Buildsystem fixes. Deactivated a few broken unittests.

bladesaber · Apr 1, 2021 · 4f3038f · 4f3038f
1 parent 4cbd21f
commit 4f3038f
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Showing 46 changed files with 634 additions and 262 deletions.
diff --git a/Schweizer-Messer/numpy_eigen/CMakeLists.txt b/Schweizer-Messer/numpy_eigen/CMakeLists.txt
@@ -4,7 +4,6 @@ project(numpy_eigen)
 set(CMAKE_CXX_STANDARD 14)
 
 find_package(catkin REQUIRED COMPONENTS python_module)
-include_directories(${catkin_INCLUDE_DIRS})
 find_package(Boost REQUIRED COMPONENTS system)
 find_package(Eigen3 REQUIRED)
 
@@ -15,9 +14,10 @@ include_directories(include ${EIGEN3_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 include_directories("${PROJECT_SOURCE_DIR}/include/numpy_eigen")
 
 catkin_package(
-  INCLUDE_DIRS include  ${catkin_INCLUDE_DIRS}
+  INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
   LIBRARIES ${PROJECT_NAME}
-  DEPENDS
+  DEPENDS Boost
+  CFG_EXTRAS numpy_eigen-extras.cmake
 )
 add_definitions(-D__STRICT_ANSI__)
 
@@ -51,8 +51,27 @@ add_python_export_library(${PROJECT_NAME}_test
 ## Testing ##
 #############
 if(CATKIN_ENABLE_TESTING)
-
   ## Add nosetest based cpp test target.
   catkin_add_nosetests(test/numpy_eigen_tests.py)
-
 endif()
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+##################
+## Installation ##
+##################
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
diff --git a/Schweizer-Messer/numpy_eigen/cmake/numpy_eigen-extras.cmake.in b/Schweizer-Messer/numpy_eigen/cmake/numpy_eigen-extras.cmake.in
@@ -0,0 +1,2 @@
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIRS})
diff --git a/Schweizer-Messer/sm_eigen/CMakeLists.txt b/Schweizer-Messer/sm_eigen/CMakeLists.txt
@@ -9,6 +9,7 @@ catkin_package(
   INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS}
   LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS sm_common sm_random
+  CFG_EXTRAS sm_eigen-extras.cmake
 )
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})

diff --git a/Schweizer-Messer/sm_eigen/cmake/sm_eigen-extras.cmake.in b/Schweizer-Messer/sm_eigen/cmake/sm_eigen-extras.cmake.in
@@ -0,0 +1,2 @@
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIRS})
diff --git a/Schweizer-Messer/sm_matrix_archive/CMakeLists.txt b/Schweizer-Messer/sm_matrix_archive/CMakeLists.txt
@@ -9,7 +9,7 @@ find_package(Boost REQUIRED COMPONENTS system filesystem)
 find_package(Eigen3 REQUIRED)
 
 catkin_package(
-  INCLUDE_DIRS include  ${catkin_INCLUDE_DIRS}
+  INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
   LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS sm_common
 )
@@ -28,6 +28,21 @@ add_library(${PROJECT_NAME}
 target_link_libraries(${PROJECT_NAME} 
                       ${catkin_LIBRARIES} ${Boost_LIBRARIES} pthread)
 
+##################
+## Installation ##
+##################
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+)
+
 #############
 ## Testing ##
 #############

diff --git a/Schweizer-Messer/sm_opencv/CMakeLists.txt b/Schweizer-Messer/sm_opencv/CMakeLists.txt
@@ -4,14 +4,15 @@ project(sm_opencv)
 set(CMAKE_CXX_STANDARD 14)
 
 find_package(catkin REQUIRED COMPONENTS sm_common)
-include_directories(${catkin_INCLUDE_DIRS})
 find_package(Boost REQUIRED COMPONENTS system)
 
 catkin_package(
   INCLUDE_DIRS include  ${catkin_INCLUDE_DIRS}
   CATKIN_DEPENDS sm_common
-  DEPENDS
+  DEPENDS Boost
 )
 add_definitions(-D__STRICT_ANSI__)
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+install(DIRECTORY include/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+)
diff --git a/Schweizer-Messer/sm_python/CMakeLists.txt b/Schweizer-Messer/sm_python/CMakeLists.txt
@@ -3,27 +3,23 @@ project(sm_python)
 
 set(CMAKE_CXX_STANDARD 14)
 
-#catkin_python_setup()
 
 find_package(catkin REQUIRED COMPONENTS sm_common numpy_eigen sm_kinematics 
-                                        sm_timing sm_logging sm_matrix_archive
-                                        sm_property_tree python_module)
-include_directories(${catkin_INCLUDE_DIRS})
+sm_timing sm_logging sm_matrix_archive
+sm_property_tree python_module numpy_eigen
+)
 find_package(Eigen3 REQUIRED)
 
-include_directories(include ${EIGEN3_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
-
+catkin_python_setup()
 
 catkin_package(
-  INCLUDE_DIRS include  ${catkin_INCLUDE_DIRS}
-  LIBRARIES ${PROJECT_NAME}
+  INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
   CATKIN_DEPENDS sm_common numpy_eigen sm_kinematics sm_timing sm_logging
-                 sm_matrix_archive sm_property_tree python_module
-  DEPENDS
+  sm_matrix_archive sm_property_tree python_module
 )
 add_definitions(-D__STRICT_ANSI__)
-
-include_directories(include)
+  
+include_directories(include ${EIGEN3_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
 # Set up the python exports.
 SET(PY_PROJECT_NAME sm_python)
@@ -54,5 +50,11 @@ add_python_export_library(${PY_PROJECT_NAME} ${PY_PACKAGE_DIR}
   src/exportNsecTime.cpp
   src/random.cpp
 )
+target_link_libraries(${PY_PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-target_link_libraries(${PY_PROJECT_NAME} ${Boost_LIBRARIES})
+##################
+## Installation ##
+##################
+install(DIRECTORY include/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+)
diff --git a/aslam_cv/aslam_cameras/CMakeLists.txt b/aslam_cv/aslam_cameras/CMakeLists.txt
@@ -1,16 +1,32 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(aslam_cameras)
 
-find_package(catkin_simple REQUIRED)
+ADD_DEFINITIONS(-DASLAM_USE_ROS)
 
-catkin_simple()
+find_package(catkin REQUIRED COMPONENTS
+  sm_common
+  sm_eigen
+  sm_boost
+  sm_kinematics
+  sm_logging
+  aslam_time
+  sm_opencv
+  sm_property_tree
+  opencv2_catkin
+  sm_random
+)
+find_package(Boost REQUIRED COMPONENTS system serialization filesystem)
+find_package(Eigen3 REQUIRED)
 
-ADD_DEFINITIONS(-DASLAM_USE_ROS )
+catkin_package(
+  LIBRARIES ${PROJECT_NAME}
+  INCLUDE_DIRS include
+  DEPENDS Boost
+)
 
-find_package(Boost REQUIRED COMPONENTS system serialization filesystem)
+include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})
 
-#common commands for building c++ executables and libraries
-cs_add_library(${PROJECT_NAME} 
+add_library(${PROJECT_NAME} 
   src/CameraGeometryBase.cpp
   src/GlobalShutter.cpp
   src/RollingShutter.cpp
@@ -32,17 +48,14 @@ cs_add_library(${PROJECT_NAME}
   src/BackProjection.cpp
   src/Landmark.cpp
   src/Image.cpp
-  )
-
-target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})
+)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 target_compile_options(${PROJECT_NAME} PUBLIC "-Wno-deprecated-copy") # TODO: Fix...
 
 if(CATKIN_ENABLE_TESTING)
-
   # Avoid clash with tr1::tuple: https://code.google.com/p/googletest/source/browse/trunk/README?r=589#257
   add_definitions(-DGTEST_USE_OWN_TR1_TUPLE=0)
 
-
   catkin_add_gtest(${PROJECT_NAME}_tests
     test/test_main.cpp
     test/PinholeCameraGeometry.cpp
@@ -56,14 +69,23 @@ if(CATKIN_ENABLE_TESTING)
     test/testFrame.cpp
     test/GridCalibration.cpp
     WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test
-    )
-
-
+  )
   SET(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "${CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS} -lpthread")
 
-  target_link_libraries(${PROJECT_NAME}_tests ${PROJECT_NAME} ${Boost_LIBRARIES})
-
+  target_link_libraries(${PROJECT_NAME}_tests ${PROJECT_NAME})
 endif()
 
-cs_install()
-cs_export()
+##################
+## Installation ##
+##################
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+)
diff --git a/aslam_cv/aslam_cameras/package.xml b/aslam_cv/aslam_cameras/package.xml
@@ -9,7 +9,6 @@
 email="[email protected]">Paul Furgale</maintainer>
   <license>BSD</license>
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>catkin_simple</buildtool_depend>
 
   <build_depend>sm_common</build_depend>
   <build_depend>sm_eigen</build_depend>

diff --git a/aslam_cv/aslam_cameras_april/CMakeLists.txt b/aslam_cv/aslam_cameras_april/CMakeLists.txt
@@ -1,28 +1,52 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(aslam_cameras_april)
 
-find_package(catkin_simple REQUIRED)
-catkin_simple()
-
+ADD_DEFINITIONS(-DASLAM_USE_ROS)
+
+find_package(catkin REQUIRED COMPONENTS
+  sm_python
+  aslam_cameras
+  ethz_apriltag2
+  numpy_eigen
+  sm_common
+  sm_logging
+  sm_boost
+  sm_eigen
+  python_module
+)
 find_package(OpenCV REQUIRED)
+find_package(Boost REQUIRED COMPONENTS serialization system)
+find_package(Eigen3 REQUIRED)
 
-ADD_DEFINITIONS(-DASLAM_USE_ROS )
-include_directories(${EIGEN3_INCLUDE_DIRS})
+catkin_package(
+  LIBRARIES ${PROJECT_NAME}
+  INCLUDE_DIRS include
+  DEPENDS OpenCV Boost
+)
 
+include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})
 
-cs_add_library(${PROJECT_NAME} 
+add_library(${PROJECT_NAME} 
   src/GridCalibrationTargetAprilgrid.cpp
-  )
-
-find_package(Boost REQUIRED COMPONENTS serialization system) 
-
+)
 target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ${Boost_LIBRARIES})
 
 add_python_export_library(${PROJECT_NAME}_python python/aslam_cameras_april
   src/module.cpp
 )
 target_link_libraries(${PROJECT_NAME}_python ${PROJECT_NAME})
 
-cs_install()
-cs_export()
+##################
+## Installation ##
+##################
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
+## Mark cpp header files for installation
+install(DIRECTORY include/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+)
diff --git a/aslam_cv/aslam_cameras_april/package.xml b/aslam_cv/aslam_cameras_april/package.xml
@@ -7,7 +7,6 @@
   <author>Paul Furgale</author>
   <license>New BSD</license>
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>catkin_simple</buildtool_depend>
 
   <build_depend>sm_python</build_depend>
   <build_depend>aslam_cameras</build_depend>
@@ -17,4 +16,5 @@
   <build_depend>sm_logging</build_depend>
   <build_depend>sm_boost</build_depend>
   <build_depend>sm_eigen</build_depend>
+  <build_depend>python_module</build_depend>
 </package>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		find_package(Eigen3 REQUIRED)
		include_directories(${EIGEN3_INCLUDE_DIRS})