From 8386d669281e375d30901429b262f023c6f22802 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Mon, 25 Apr 2022 17:40:42 +0200
Subject: [PATCH] wolf core compiling and installed without the need for sudo
---
.gitignore | 2 +-
CMakeLists.txt | 23 ++++++--------
test/CMakeLists.txt | 34 ++++----------------
test/gtest/CMakeLists.txt | 67 +++++----------------------------------
4 files changed, 26 insertions(+), 100 deletions(-)
diff --git a/.gitignore b/.gitignore
index 77906100d..08224507c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,6 +5,7 @@ README.txt
bin/
build/
build_release/
+build_debug/
lib/
.idea/
./Wolf.user
@@ -30,7 +31,6 @@ src/CMakeFiles/cmake.check_cache
src/examples/map_apriltag_save.yaml
\.vscode/
-build_release/
.clangd
wolfcore.found
/wolf.found
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c94b33bfb..20cd9418c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@
MESSAGE(STATUS "Starting WOLF CMakeLists ...")
# Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.16)
if(COMMAND cmake_policy)
cmake_policy(SET CMP0005 NEW)
@@ -19,7 +19,6 @@ set(PLUGIN_NAME "wolf${PROJECT_NAME}")
# Paths
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
-SET(CMAKE_INSTALL_PREFIX /usr/local)
SET(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY FALSE)
# Build type
@@ -91,7 +90,7 @@ FIND_PACKAGE(Eigen3 3.3 REQUIRED)
if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3)
message(FATAL_ERROR "Wolf requires Eigen >= 3.3. Found Eigen ${EIGEN3_VERSION_STRING}")
endif()
-FIND_PACKAGE(YamlCpp REQUIRED)
+FIND_PACKAGE(yaml-cpp REQUIRED)
# ============ config.h ============
set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
@@ -124,9 +123,6 @@ ENDIF (SPDLOG_INCLUDE_DIR)
# ============ INCLUDES ============
INCLUDE_DIRECTORIES("include") # In this same project
-INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
-INCLUDE_DIRECTORIES(${YAMLCPP_INCLUDE_DIR})
-INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
# ============ HEADERS ============
SET(HDRS_CAPTURE
include/core/capture/capture_base.h
@@ -424,7 +420,8 @@ endif()
#Link the created libraries
#=============================================================
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CMAKE_THREAD_LIBS_INIT} dl)
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${YAMLCPP_LIBRARY})
+# TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${YAMLCPP_LIBRARY})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} yaml-cpp)
IF (Ceres_FOUND)
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CERES_LIBRARIES})
ENDIF(Ceres_FOUND)
@@ -500,14 +497,14 @@ INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
DESTINATION include/iri-algorithms/wolf/plugin_core/core/internal)
#install Find*.cmake
-configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake"
- "${CMAKE_BINARY_DIR}/${PLUGIN_NAME}Config.cmake" @ONLY)
+# configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake"
+# "${CMAKE_BINARY_DIR}/${PLUGIN_NAME}Config.cmake" @ONLY)
-configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/FindYamlCpp.cmake"
- "${CMAKE_BINARY_DIR}/FindYamlCpp.cmake" @ONLY)
+# configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/FindYamlCpp.cmake"
+# "${CMAKE_BINARY_DIR}/FindYamlCpp.cmake" @ONLY)
-INSTALL(FILES "${CMAKE_BINARY_DIR}/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
-INSTALL(FILES "${CMAKE_BINARY_DIR}/FindYamlCpp.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
+# INSTALL(FILES "${CMAKE_BINARY_DIR}/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
+# INSTALL(FILES "${CMAKE_BINARY_DIR}/FindYamlCpp.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index dd7732c47..ac6b9ac6e 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,28 +1,8 @@
# Retrieve googletest from github & compile
add_subdirectory(gtest)
-
-## Added these two include_dirs: ######################
-#
-#CMAKE modules
-#SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
-#MESSAGE(STATUS ${CMAKE_MODULE_PATH})
-#
-# Include Eigen
-#FIND_PACKAGE(Eigen 3 REQUIRED)
-#INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
-#
-# Include Ceres
-#FIND_PACKAGE(Ceres QUIET) #Ceres is not required
-#IF(Ceres_FOUND)
-# INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
-#ENDIF(Ceres_FOUND)
-#
-## and now gtest_motion_2d works ######################
-
-
-# Include gtest directory.
-include_directories(${GTEST_INCLUDE_DIRS})
+# # Include gtest directory.
+# include_directories(${GTEST_INCLUDE_DIRS})
############# USE THIS TEST AS AN EXAMPLE #################
# #
@@ -30,7 +10,7 @@ include_directories(${GTEST_INCLUDE_DIRS})
wolf_add_gtest(gtest_example gtest_example.cpp) #
target_link_libraries(gtest_example ${PLUGIN_NAME}) #
# #
-###########################################################
+##########################################################
set(SRC_DUMMY
dummy/processor_tracker_feature_dummy.cpp
dummy/processor_tracker_landmark_dummy.cpp
@@ -38,10 +18,10 @@ set(SRC_DUMMY
)
add_library(dummy SHARED ${SRC_DUMMY})
target_link_libraries(dummy ${PLUGIN_NAME})
-################# ADD YOUR TESTS BELOW ####################
-# #
-# ==== IN ALPHABETICAL ORDER! ==== #
-# #
+################ ADD YOUR TESTS BELOW ####################
+# #
+# ==== IN ALPHABETICAL ORDER! ==== #
+# #
# ------- First Core classes ----------
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index 559756b02..da1bee837 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -1,65 +1,14 @@
-cmake_minimum_required(VERSION 2.8.8)
-project(gtest_builder C CXX)
+include(FetchContent)
+FetchContent_Declare(
+ googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG main)
+FetchContent_MakeAvailable(googletest)
-# We need thread support
-#find_package(Threads REQUIRED)
-
-# Enable ExternalProject CMake module
-include(ExternalProject)
-
-set(GTEST_FORCE_SHARED_CRT ON)
-set(GTEST_DISABLE_PTHREADS OFF)
-
-# For some reason I need to disable PTHREADS
-# with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
-# This is a known issue for MinGW :
-# https://github.com/google/shaderc/pull/174
-#if(MINGW)
- set(GTEST_DISABLE_PTHREADS ON)
-#endif()
-
-# Download GoogleTest
-ExternalProject_Add(googletest
- GIT_REPOSITORY https://github.com/google/googletest.git
- GIT_TAG v1.8.x
- # TIMEOUT 1 # We'll try this
- CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
- -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
- -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
- -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
- -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
- -DBUILD_GTEST=ON
- PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
- # Disable install step
- INSTALL_COMMAND ""
- UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
-)
-
-# Get GTest source and binary directories from CMake project
-
-# Specify include dir
-ExternalProject_Get_Property(googletest source_dir)
-set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
-
-# Specify MainTest's link libraries
-ExternalProject_Get_Property(googletest binary_dir)
-set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
-
-# Create a libgtest target to be used as a dependency by test programs
-add_library(libgtest IMPORTED STATIC GLOBAL)
-add_dependencies(libgtest googletest)
-
-# Set libgtest properties
-set_target_properties(libgtest PROPERTIES
- "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
- "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
-)
function(wolf_add_gtest target)
add_executable(${target} ${ARGN})
- add_dependencies(${target} libgtest)
- target_link_libraries(${target} libgtest)
-
- #WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/bin
+ target_link_libraries(${target} gtest_main)
add_test(NAME ${target} COMMAND ${target})
endfunction()
+
--
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