CMake refactor, drop catkin and add better organization.

CMakeLists.txt

@@ -1,61 +1,60 @@
 cmake_minimum_required(VERSION 3.5)
 project(iris_lama LANGUAGES CXX C)
 
-set(IRIS_LAMA_VERSION "1.2.0")
-
-# http://answers.ros.org/question/230877/optionally-build-a-package-with-catkin/
-if( CATKIN_DEVEL_PREFIX OR catkin_FOUND OR CATKIN_BUILD_BINARY_PACKAGE)
-    set(COMPILING_WITH_CATKIN 1)
-elseif( DEFINED ENV{AMENT_PREFIX_PATH})
-        set(COMPILING_WITH_AMENT 1)
-endif()
-
-set(CMAKE_CXX_STANDARD 14) # use c++14
-
-option(COMPILE_WITH_SSE "Compile with sse4.1 for faster code" ON)
-if (COMPILE_WITH_SSE)
-    add_compile_options(-msse4.1)
-endif()
-
-
-find_package(Eigen 3 QUIET)
-if(NOT Eigen_FOUND)
-  include(${PROJECT_SOURCE_DIR}/cmake/FindEigen3.cmake)
-  set(Eigen_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}")
-endif()
-
-# Default to release mode.
-if (NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE Release)
-endif()
-
-if(COMPILING_WITH_CATKIN)
-    message(STATUS "---------------")
-    message(STATUS "Catkin detected")
-    message(STATUS "---------------")
-
-    find_package(catkin REQUIRED)
-    catkin_package(
-        INCLUDE_DIRS include
-        LIBRARIES ${PROJECT_NAME}
-        )
-elseif(COMPILING_WITH_AMENT)
-    message(STATUS "--------------")
-    message(STATUS "Ament detected")
-    message(STATUS "--------------")
-
-    find_package(ament_cmake REQUIRED)
-    ament_export_include_directories(include)
-    ament_export_libraries(${PROJECT_NAME})
-endif()
-
-INCLUDE_DIRECTORIES(include ${Eigen_INCLUDE_DIR})
-add_subdirectory(src)
+set(IRIS_LAMA_VERSION 1.2.0)
+
+# provides default CMAKE_INSTALL_<dir> variables
+include(GNUInstallDirs)
+# helpers to generate <package>Config.cmake
+include(CMakePackageConfigHelpers)
+
+# install location of generated cmake config files
+set(ConfigPackageLocation ${CMAKE_INSTALL_LIBDIR}/${CMAKE_PROJECT_NAME}/cmake)
 
-if(COMPILING_WITH_AMENT)
-    ament_package()
-    # for some reason this variable is set and cmake complains it is not used.
-    unset( CATKIN_INSTALL_INTO_PREFIX_ROOT )
-endif()
+# dependencies
+find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+
+# the code
+add_subdirectory(src)
 
+# libs and binaries, generate export targets
+install(TARGETS iris_lama
+  EXPORT ${CMAKE_PROJECT_NAME}Targets
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+# header files, note the "/" after include
+install(DIRECTORY include/
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+# for build tree / in workspace
+export(EXPORT ${CMAKE_PROJECT_NAME}Targets
+  FILE ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}Targets.cmake
+  NAMESPACE ${CMAKE_PROJECT_NAME}::)
+# exported targets
+install(EXPORT ${CMAKE_PROJECT_NAME}Targets
+  FILE ${CMAKE_PROJECT_NAME}Targets.cmake
+  NAMESPACE ${CMAKE_PROJECT_NAME}::
+  DESTINATION ${ConfigPackageLocation})
+
+# generate package version file
+write_basic_package_version_file(
+  ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}ConfigVersion.cmake
+  VERSION ${IRIS_LAMA_VERSION}
+  COMPATIBILITY SameMajorVersion)
+
+# generate package configuration file
+set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR})
+configure_package_config_file(
+  ${CMAKE_CURRENT_SOURCE_DIR}/cmake/${CMAKE_PROJECT_NAME}Config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}Config.cmake
+  INSTALL_DESTINATION ${ConfigPackageLocation}
+  PATH_VARS INCLUDE_INSTALL_DIR)
+
+# install the package configuration files
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}Config.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}ConfigVersion.cmake
+  DESTINATION ${ConfigPackageLocation})
 

cmake/iris_lamaConfig.cmake.in

@@ -0,0 +1,18 @@
+# required by CMakePackageConfigHelpers
+# https://cmake.org/cmake/help/latest/module/CMakePackageConfigHelpers.html
+@PACKAGE_INIT@
+
+# forward the targets
+include(${CMAKE_CURRENT_LIST_DIR}/iris_lamaTargets.cmake)
+
+# define INCLUDE_DIRS and LIBRARIES, required for catkin_package
+set_and_check(iris_lama_INCLUDE_DIRS "@PACKAGE_INCLUDE_INSTALL_DIR@")
+set(iris_flama_LIBRARIES iris_lama::iris_lama)
+
+# forward dependencies AFTER expanding the @PACKAGE_<...>@ macros!!!
+# otherwise the expanded paths might point to a found package
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3 3.3 REQUIRED NO_MODULE)
+
+# labels the packages as found or not
+check_required_components(iris_lama)

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
 
     <name>iris_lama</name>
     <version>1.2.0</version>
@@ -16,11 +16,12 @@
 
     <license>BSD</license>
 
-    <buildtool_depend>catkin</buildtool_depend>
+    <buildtool_depend>cmake</buildtool_depend>
 
     <build_depend>eigen</build_depend>
-    <run_depend>eigen</run_depend>
 
-    <export />
+    <export>
+        <build_type>cmake</build_type>
+    </export>
 
 </package>

src/CMakeLists.txt

@@ -1,74 +1,65 @@
 
-set(lama_SOURCES)
-set(lama_SUBDIRS
-    # Current diretory
-    .
+set(lama_SOURCES
+    # Base
+    buffer_compressor.cpp
+    graph_slam2d.cpp
+    image_io.cpp
+    loc2d.cpp
+    match_surface_2d.cpp
+    pf_slam2d.cpp
+    print.cpp
+    pose2d.cpp
+    pose3d.cpp
+    random.cpp
+    slam2d.cpp
+    thread_pool.cpp
+
     # Non-Linear Least Squares Optimization
-    nlls
+    nlls/gauss_newton.cpp
+    nlls/levenberg_marquardt.cpp
+    nlls/robust_cost.cpp
+    nlls/solver.cpp
+
     # Sparse-Dense Mapping
-    sdm
-    # Lossless data compression
-    extern/lz4
-    extern/zstd
-    # (mini) Smoothing and Mapping
-    extern/minisam/core
-    extern/minisam/utils
-    extern/minisam/linear
-    extern/minisam/nonlinear
+    sdm/container.cpp
+    sdm/dynamic_distance_map.cpp
+    sdm/export.cpp
+    sdm/frequency_occupancy_map.cpp
+    sdm/map.cpp
+    sdm/marching_cubes.cpp
+    sdm/probabilistic_occupancy_map.cpp
+    sdm/simple_occupancy_map.cpp
+    sdm/truncated_signed_distance_map.cpp
 )
 
-foreach(SUBDIR ${lama_SUBDIRS})
-    file(GLOB lama_SRC "${SUBDIR}/*.cpp" "${SUBDIR}/*.c")
-    list(APPEND lama_SOURCES ${lama_SRC})
-endforeach()
-
-add_library(${PROJECT_NAME} ${lama_SOURCES})
-target_compile_options(${PROJECT_NAME} PRIVATE -Wall)
-target_link_libraries(${PROJECT_NAME} pthread)
-
-if(COMPILING_WITH_CATKIN)
-    install(TARGETS ${PROJECT_NAME}
-      ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-      LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-      RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-    )
-    install(DIRECTORY ../include/lama/
-      DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/lama
-      PATTERN ".svn" EXCLUDE
-    )
-elseif(COMPILING_WITH_AMENT)
-    install(TARGETS ${PROJECT_NAME}
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
-        RUNTIME DESTINATION lib
-        INCLUDES DESTINATION include)
-    install(DIRECTORY ../include/lama/
-        DESTINATION include/lama
-        PATTERN ".svn" EXCLUDE)
-else()
+# vendor (or third party) software
+add_subdirectory(../vendor/lz4      vendor/lz4)
+add_subdirectory(../vendor/minisam  vendor/minisam)
+add_subdirectory(../vendor/zstd     vendor/zstd)
 
-    export(PACKAGE iris_lama)
-
-    install(EXPORT ${PROJECT_NAME}Targets
-        FILE ${PROJECT_NAME}-config.cmake
-        DESTINATION lib/cmake/iris_lama)
-
-    install(TARGETS ${PROJECT_NAME}
-        EXPORT   ${PROJECT_NAME}Targets
-        ARCHIVE  DESTINATION lib
-        LIBRARY  DESTINATION lib
-        INCLUDES DESTINATION include)
+add_library(iris_lama ${lama_SOURCES}
+    $<TARGET_OBJECTS:lz4>
+    $<TARGET_OBJECTS:minisam>
+    $<TARGET_OBJECTS:zstd>
+)
 
-    install(DIRECTORY ../include/lama/
-        DESTINATION include/lama
-        PATTERN ".svn" EXCLUDE)
+target_include_directories(iris_lama
+    PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
+    $<INSTALL_INTERFACE:include>
 
-    include(CMakePackageConfigHelpers)
-    write_basic_package_version_file(
-        iris_lama-config-version.cmake
-        VERSION ${IRIS_LAMA_VERSION}
-        COMPATIBILITY AnyNewerVersion)
+    PRIVATE
+    ../vendor/lz4
+    ../vendor/minisam
+    ../vendor/moodycamel
+    ../vendor/nanoflann
+    ../vendor/stb
+    ../vendor/zstd
+)
 
-endif()
+target_compile_features(iris_lama PUBLIC cxx_std_14)
+target_compile_options(iris_lama PRIVATE -Wall -Wextra)
 
+target_link_libraries(iris_lama PUBLIC pthread Eigen3::Eigen)
+target_include_directories(iris_lama PRIVATE extern/minisam)
 

src/buffer_compressor.cpp

@@ -33,8 +33,8 @@
 
 #include "lama/buffer_compressor.h"
 
-#include "extern/lz4/lz4.h"
-#include "extern/zstd/zstd.h"
+#include "lz4/lz4.h"
+#include "zstd/zstd.h"
 
 size_t lama::LZ4BufferCompressor::compress(const char* src, size_t src_size, char** dst, char* buffer)
 {

src/graph_slam2d.cpp

@@ -55,7 +55,7 @@
 
 #include "lama/graph_slam2d.h"
 
-#include "extern/nanoflann/nanoflann.hpp"
+#include "nanoflann/nanoflann.hpp"
 
 template <typename Derived> struct KeyPosesNanoFlannAdaptor {