cartographer之CMakeList.txt

Posted 2021-09-18 COCO_PEAK_NOODLE

CMakeList.txt主要生成了库文件和可执行文件，介绍了如何预处理proto文件，以及后续的打包发布，这个里面可以看到程序使用了哪些第三方库，还有就是生成的库如何方便其他人调用。主要是方便软件编译和后期打包发布。ok，简单写下重要的注释

# 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 3.2)

project(cartographer)

#set(CMAKE_EXE_LINKER_FLAGS "-static") #peak.ding
#set(CMAKE_CXX_FLAGS "-static ${CMAKE_CXX_FLAGS}") #peak.ding

//定义编译时可能用到的变量 -DNDEBUG
add_definitions(-D NDEBUG)
//软件版本
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})
//编译选项
option(BUILD_GRPC "build Cartographer gRPC support" true) #default is false
set(CARTOGRAPHER_HAS_GRPC ${BUILD_GRPC})
option(BUILD_PROMETHEUS "build Prometheus monitoring support" false)

//添加其他cmake文件
include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
google_initialize_cartographer_project()
google_enable_testing()

#find_package(absl REQUIRED)
find_package(absl REQUIRED)
set(BOOST_COMPONENTS iostreams)
if(WIN32)
  list(APPEND BOOST_COMPONENTS zlib) //APPEND 是增加的意思
  set(Boost_USE_STATIC_LIBS FALSE)
endif()
find_package(Boost REQUIRED COMPONENTS ${BOOST_COMPONENTS}) //REQUIRED是必须包含的意思
find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
find_package(Eigen3 REQUIRED)
find_package(LuaGoogle REQUIRED)
if(WIN32)
  # On Windows, Protobuf is incorrectly found by the bundled CMake module, so prefer native CMake config.
  set(protobuf_MODULE_COMPATIBLE TRUE CACHE INTERNAL "") //CACHE INTERNAL代表是文本的意思，用于cmake可视化界面赋值
  find_package(Protobuf 3.0.0 CONFIG) //CONFIG 参见其他博客，是一种如何查找库的方式
else()
  find_package(Protobuf 3.0.0 REQUIRED)
endif()

if (${BUILD_GRPC})
  find_package(async_grpc REQUIRED)

  # add by peak.ding
  # Find gRPC installation
  # Looks for gRPCConfig.cmake file installed by gRPC's cmake installation.
  find_package(gRPC CONFIG REQUIRED)
  message(STATUS "Using gRPC ${gRPC_VERSION}")
endif()

if(${BUILD_PROMETHEUS})
  find_package( ZLIB REQUIRED )
endif()

include(FindPkgConfig)
if (NOT WIN32)
  PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
else()
  find_library(CAIRO_LIBRARIES cairo)
endif()

# Only build the documentation if we can find Sphinx.
find_package(Sphinx)
if(SPHINX_FOUND) //SPHINX_FOUND是find_package自动生成的
  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") //同上，CACHE PATH用于可视化cmake界面的

install(DIRECTORY configuration_files DESTINATION share/cartographer/)

install(DIRECTORY cmake DESTINATION share/cartographer/)

file(GLOB_RECURSE ALL_LIBRARY_HDRS "cartographer/*.h") //查找文件，GLOB_RECURSE是迭代子文件夹查找
file(GLOB_RECURSE ALL_LIBRARY_SRCS "cartographer/*.cc")
file(GLOB_RECURSE TEST_LIBRARY_HDRS "cartographer/fake_*.h" "cartographer/*test_helpers*.h" "cartographer/mock_*.h")
file(GLOB_RECURSE TEST_LIBRARY_SRCS "cartographer/fake_*.cc" "cartographer/*test_helpers*.cc" "cartographer/mock_*.cc")
file(GLOB_RECURSE ALL_TESTS "cartographer/*_test.cc")
file(GLOB_RECURSE ALL_EXECUTABLES "cartographer/*_main.cc")

# Remove dotfiles/-folders that could potentially pollute the build.
file(GLOB_RECURSE ALL_DOTFILES ".*/*") 

if (ALL_DOTFILES) //文件夹下面会有一些".git"等的文件，这些对我们没用
  list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_DOTFILES}) //REMOVE是移除
  list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_DOTFILES})
  list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_DOTFILES})
  list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_DOTFILES})
  list(REMOVE_ITEM ALL_TESTS ${ALL_DOTFILES})
  list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_DOTFILES})
endif()
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_EXECUTABLES})
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_TESTS})
list(REMOVE_ITEM ALL_LIBRARY_HDRS ${TEST_LIBRARY_HDRS})
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${TEST_LIBRARY_SRCS})
file(GLOB_RECURSE ALL_GRPC_FILES "cartographer/cloud/*")
file(GLOB_RECURSE ALL_PROMETHEUS_FILES "cartographer/cloud/metrics/prometheus/*")
list(REMOVE_ITEM ALL_GRPC_FILES ${ALL_PROMETHEUS_FILES})
if (NOT ${BUILD_GRPC})
  list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_GRPC_FILES})
  list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_GRPC_FILES})
  list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_GRPC_FILES})
  list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_GRPC_FILES})
  list(REMOVE_ITEM ALL_TESTS ${ALL_GRPC_FILES})
  list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_GRPC_FILES})
endif()
if (NOT ${BUILD_PROMETHEUS})
  list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
  list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
  list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
  list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
  list(REMOVE_ITEM ALL_TESTS ${ALL_PROMETHEUS_FILES})
  list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_PROMETHEUS_FILES})
endif()
set(INSTALL_SOURCE_HDRS ${ALL_LIBRARY_HDRS} ${TEST_LIBRARY_HDRS})
file(GLOB_RECURSE INTERNAL_HDRS "cartographer/*/internal/*.h")
#list(REMOVE_ITEM INSTALL_SOURCE_HDRS ${INTERNAL_HDRS})

file(GLOB_RECURSE ALL_PROTOS "cartographer/*.proto")
file(GLOB_RECURSE ALL_GRPC_SERVICES "cartographer/*_service.proto")
list(REMOVE_ITEM ALL_PROTOS ALL_GRPC_SERVICES)
if (NOT ${BUILD_GRPC})
  list(REMOVE_ITEM ALL_PROTOS ${ALL_GRPC_FILES})
endif()

# TODO(cschuet): Move proto compilation to separate function.
set(ALL_PROTO_SRCS)
set(ALL_PROTO_HDRS)
#
foreach(ABS_FIL ${ALL_PROTOS})  //遍历ALL_PROTOS
  #
  file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
  #
  get_filename_component(DIR ${REL_FIL} DIRECTORY) //获得文件路径和文件名
  get_filename_component(FIL_WE ${REL_FIL} NAME_WE)

  list(APPEND ALL_PROTO_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc") //添加
  list(APPEND ALL_PROTO_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")

  #
  add_custom_command( //使用protoc编译生成头文件
    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 //ARGS是参数
      ${PROJECT_SOURCE_DIR} ${ABS_FIL}
    DEPENDS ${ABS_FIL} //DEPEND也是参数
    COMMENT "Running C++ protocol buffer compiler on ${ABS_FIL}"
    VERBATIM //不知道，待调研
  )
endforeach()
set_source_files_properties(${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS} PROPERTIES GENERATED TRUE) //就是刚刚生成的文件可被程序使用
list(APPEND ALL_LIBRARY_HDRS ${ALL_PROTO_HDRS})
list(APPEND ALL_LIBRARY_SRCS ${ALL_PROTO_SRCS})

if(${BUILD_GRPC})//编译grpc服务
  set(ALL_GRPC_SERVICE_SRCS)
  set(ALL_GRPC_SERVICE_HDRS)
  foreach(ABS_FIL ${ALL_GRPC_SERVICES})
    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_GRPC_SERVICE_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
    list(APPEND ALL_GRPC_SERVICE_HDRS "${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_GRPC_SERVICE_SRCS} ${ALL_GRPC_SERVICE_HDRS} PROPERTIES GENERATED TRUE)
  list(APPEND ALL_LIBRARY_HDRS ${ALL_GRPC_SERVICE_HDRS})
  list(APPEND ALL_LIBRARY_SRCS ${ALL_GRPC_SERVICE_SRCS})
endif()
set(INSTALL_GENERATED_HDRS ${ALL_PROTO_HDRS} ${ALL_GRPC_SERVICE_HDRS})

add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS}) //生成静态库
#add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS})

configure_file( //生成配置文件config.h
  ${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
  ${PROJECT_BINARY_DIR}/cartographer/common/config.h)

//生成可执行文件
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_pbstream
  SRCS
  cartographer/io/pbstream_main.cc
)

google_binary(cartographer_print_configuration
  SRCS
  cartographer/common/print_configuration_main.cc
)

if(${BUILD_GRPC})
  google_binary(cartographer_grpc_server
    SRCS
      cartographer/cloud/map_builder_server_main.cc
  )
  target_link_libraries(cartographer_grpc_server PUBLIC grpc++) //PUBLIC意思是头文件.h和.cpp都包含第三方库
  target_link_libraries(cartographer_grpc_server PUBLIC async_grpc)
  if(${BUILD_PROMETHEUS})
    target_link_libraries(cartographer_grpc_server PUBLIC ${ZLIB_LIBRARIES})
    target_link_libraries(cartographer_grpc_server PUBLIC prometheus-cpp-core)
    target_link_libraries(cartographer_grpc_server PUBLIC prometheus-cpp-pull)
  endif()
endif()

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})

if (WIN32)
  find_package(glog REQUIRED)
  set(GLOG_LIBRARY glog::glog)
else()
  set(GLOG_LIBRARY glog)
endif()

target_link_libraries(${PROJECT_NAME} PUBLIC ${GLOG_LIBRARY})
target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
if(WIN32)
  # Needed to fix conflict with MSVC's error macro.
  target_compile_definitions(${PROJECT_NAME} PUBLIC -DGLOG_NO_ABBREVIATED_SEVERITIES)
endif()
if(MSVC)
  # Needed for VS 2017 5.8
  target_compile_definitions(${PROJECT_NAME} PUBLIC -D_ENABLE_EXTENDED_ALIGNED_STORAGE -D_USE_MATH_DEFINES)
endif()

if("${CAIRO_INCLUDE_DIRS}")
  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
    "${CAIRO_INCLUDE_DIRS}")
endif()
target_link_libraries(${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}
  absl::algorithm
  absl::base
  absl::debugging
  absl::flat_hash_map
  absl::memory
  absl::meta
  absl::numeric
  absl::str_format
  absl::strings
  absl::synchronization
  absl::time
  absl::utility )

#target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} standalone_absl)
#target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} ${ABSEIL_LIBRARY})

if (NOT WIN32)
  target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
endif()
if(${BUILD_GRPC})
  target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
  target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
endif()
if(${BUILD_PROMETHEUS})
  target_link_libraries(${PROJECT_NAME} PUBLIC ${ZLIB_LIBRARIES})
  target_link_libraries(${PROJECT_NAME} PUBLIC prometheus-cpp-core)
  target_link_libraries(${PROJECT_NAME} PUBLIC prometheus-cpp-pull)
  target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
endif()

set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}") //设置编译属性，这里不太清楚具体含义
set_target_properties(${PROJECT_NAME} PROPERTIES
  COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})

set(TEST_LIB
  cartographer_test_library
)
add_library(${TEST_LIB} ${TEST_LIBRARY_HDRS} ${TEST_LIBRARY_SRCS})
#add_library(${TEST_LIB} ${TEST_LIBRARY_HDRS} ${TEST_LIBRARY_SRCS})
target_include_directories(${TEST_LIB} SYSTEM PRIVATE
  "${GMOCK_INCLUDE_DIRS}")
# Needed for dynamically linked GTest on Windows.
if (WIN32)
  target_compile_definitions(${TEST_LIB} PUBLIC -DGTEST_LINKED_AS_SHARED_LIBRARY)
endif()
target_link_libraries(${TEST_LIB} PUBLIC ${GMOCK_LIBRARY})
target_link_libraries(${TEST_LIB} PUBLIC ${PROJECT_NAME})
set_target_properties(${TEST_LIB} PROPERTIES
  COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})

#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}" ${ABS_FIL})
#  if(${BUILD_GRPC})
#    target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++以上是关于cartographer之CMakeList.txt的主要内容，如果未能解决你的问题，请参考以下文章
 
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