From 050d0ce703d92da2c320b21335f09d634f844fc4 Mon Sep 17 00:00:00 2001 From: John Zhao Date: Mon, 14 Jan 2019 22:27:38 +0800 Subject: [PATCH] fix(cmake): fix inlcude ceres miniglog --- 3rdparty/glog/logging.h | 427 ++++++++++++++++++++++++++++++++++++++++ CMakeLists.txt | 17 +- 2 files changed, 433 insertions(+), 11 deletions(-) create mode 100644 3rdparty/glog/logging.h diff --git a/3rdparty/glog/logging.h b/3rdparty/glog/logging.h new file mode 100644 index 0000000..b67bf96 --- /dev/null +++ b/3rdparty/glog/logging.h @@ -0,0 +1,427 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2015 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: settinger@google.com (Scott Ettinger) +// mierle@gmail.com (Keir Mierle) +// +// Simplified Glog style logging with Android support. Supported macros in +// decreasing severity level per line: +// +// VLOG(2), VLOG(N) +// VLOG(1), +// LOG(INFO), VLOG(0), LG +// LOG(WARNING), +// LOG(ERROR), +// LOG(FATAL), +// +// With VLOG(n), the output is directed to one of the 5 Android log levels: +// +// 2 - Verbose +// 1 - Debug +// 0 - Info +// -1 - Warning +// -2 - Error +// -3 - Fatal +// +// Any logging of level 2 and above is directed to the Verbose level. All +// Android log output is tagged with the string "native". +// +// If the symbol ANDROID is not defined, all output goes to std::cerr. +// This allows code to be built on a different system for debug. +// +// Portions of this code are taken from the GLOG package. This code is only a +// small subset of the GLOG functionality. Notable differences from GLOG +// behavior include lack of support for displaying unprintable characters and +// lack of stack trace information upon failure of the CHECK macros. On +// non-Android systems, log output goes to std::cerr and is not written to a +// file. +// +// CHECK macros are defined to test for conditions within code. Any CHECK that +// fails will log the failure and terminate the application. +// e.g. CHECK_GE(3, 2) will pass while CHECK_GE(3, 4) will fail after logging +// "Check failed 3 >= 4". +// +// The following CHECK macros are defined: +// +// CHECK(condition) - fails if condition is false and logs condition. +// CHECK_NOTNULL(variable) - fails if the variable is NULL. +// +// The following binary check macros are also defined : +// +// Macro Operator equivalent +// -------------------- ------------------- +// CHECK_EQ(val1, val2) val1 == val2 +// CHECK_NE(val1, val2) val1 != val2 +// CHECK_GT(val1, val2) val1 > val2 +// CHECK_GE(val1, val2) val1 >= val2 +// CHECK_LT(val1, val2) val1 < val2 +// CHECK_LE(val1, val2) val1 <= val2 +// +// Debug only versions of all of the check macros are also defined. These +// macros generate no code in a release build, but avoid unused variable +// warnings / errors. +// +// To use the debug only versions, prepend a D to the normal check macros, e.g. +// DCHECK_EQ(a, b). + +#ifndef CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_ +#define CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_ + +#ifdef ANDROID +# include +#endif // ANDROID + +#include +#include +#include +#include +#include +#include +#include +#include + +// For appropriate definition of CERES_EXPORT macro. +// #include "ceres/internal/port.h" +// #include "ceres/internal/disable_warnings.h" +#include "mynteye/mynteye.h" + +// Log severity level constants. +const int FATAL = -3; +const int ERROR = -2; +const int WARNING = -1; +const int INFO = 0; + +// ------------------------- Glog compatibility ------------------------------ + +namespace google { + +typedef int LogSeverity; +const int INFO = ::INFO; +const int WARNING = ::WARNING; +const int ERROR = ::ERROR; +const int FATAL = ::FATAL; + +// Sink class used for integration with mock and test functions. If sinks are +// added, all log output is also sent to each sink through the send function. +// In this implementation, WaitTillSent() is called immediately after the send. +// This implementation is not thread safe. +class MYNTEYE_API LogSink { + public: + virtual ~LogSink() {} + virtual void send(LogSeverity severity, + const char* full_filename, + const char* base_filename, + int line, + const struct tm* tm_time, + const char* message, + size_t message_len) = 0; + virtual void WaitTillSent() = 0; +}; + +// Global set of log sinks. The actual object is defined in logging.cc. +extern MYNTEYE_API std::set log_sinks_global; + +inline void InitGoogleLogging(char *argv) { + // Do nothing; this is ignored. +} + +// Note: the Log sink functions are not thread safe. +inline void AddLogSink(LogSink *sink) { + // TODO(settinger): Add locks for thread safety. + log_sinks_global.insert(sink); +} +inline void RemoveLogSink(LogSink *sink) { + log_sinks_global.erase(sink); +} + +} // namespace google + +// ---------------------------- Logger Class -------------------------------- + +// Class created for each use of the logging macros. +// The logger acts as a stream and routes the final stream contents to the +// Android logcat output at the proper filter level. If ANDROID is not +// defined, output is directed to std::cerr. This class should not +// be directly instantiated in code, rather it should be invoked through the +// use of the log macros LG, LOG, or VLOG. +class MYNTEYE_API MessageLogger { + public: + MessageLogger(const char *file, int line, const char *tag, int severity) + : file_(file), line_(line), tag_(tag), severity_(severity) { + // Pre-pend the stream with the file and line number. + StripBasename(std::string(file), &filename_only_); + stream_ << filename_only_ << ":" << line << " "; + } + + // Output the contents of the stream to the proper channel on destruction. + ~MessageLogger() { + stream_ << "\n"; + +#ifdef ANDROID + static const int android_log_levels[] = { + ANDROID_LOG_FATAL, // LOG(FATAL) + ANDROID_LOG_ERROR, // LOG(ERROR) + ANDROID_LOG_WARN, // LOG(WARNING) + ANDROID_LOG_INFO, // LOG(INFO), LG, VLOG(0) + ANDROID_LOG_DEBUG, // VLOG(1) + ANDROID_LOG_VERBOSE, // VLOG(2) .. VLOG(N) + }; + + // Bound the logging level. + const int kMaxVerboseLevel = 2; + int android_level_index = std::min(std::max(FATAL, severity_), + kMaxVerboseLevel) - FATAL; + int android_log_level = android_log_levels[android_level_index]; + + // Output the log string the Android log at the appropriate level. + __android_log_write(android_log_level, tag_.c_str(), stream_.str().c_str()); + + // Indicate termination if needed. + if (severity_ == FATAL) { + __android_log_write(ANDROID_LOG_FATAL, + tag_.c_str(), + "terminating.\n"); + } +#else + // If not building on Android, log all output to std::cerr. + std::cerr << stream_.str(); +#endif // ANDROID + + LogToSinks(severity_); + WaitForSinks(); + + // Android logging at level FATAL does not terminate execution, so abort() + // is still required to stop the program. + if (severity_ == FATAL) { + abort(); + } + } + + // Return the stream associated with the logger object. + std::stringstream &stream() { return stream_; } + + private: + void LogToSinks(int severity) { + time_t rawtime; + time (&rawtime); + + struct tm* timeinfo; +#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) + // On Windows, use secure localtime_s not localtime. + struct tm windows_timeinfo; + timeinfo = &windows_timeinfo; + localtime_s(timeinfo, &rawtime); +#else + timeinfo = localtime(&rawtime); +#endif + + std::set::iterator iter; + // Send the log message to all sinks. + for (iter = google::log_sinks_global.begin(); + iter != google::log_sinks_global.end(); ++iter) { + (*iter)->send(severity, file_.c_str(), filename_only_.c_str(), line_, + timeinfo, stream_.str().c_str(), stream_.str().size()); + } + } + + void WaitForSinks() { + // TODO(settinger): Add locks for thread safety. + std::set::iterator iter; + + // Call WaitTillSent() for all sinks. + for (iter = google::log_sinks_global.begin(); + iter != google::log_sinks_global.end(); ++iter) { + (*iter)->WaitTillSent(); + } + } + + void StripBasename(const std::string &full_path, std::string *filename) { + // TODO(settinger): Add support for OSs with different path separators. + const char kSeparator = '/'; + size_t pos = full_path.rfind(kSeparator); + if (pos != std::string::npos) { + *filename = full_path.substr(pos + 1, std::string::npos); + } else { + *filename = full_path; + } + } + + std::string file_; + std::string filename_only_; + int line_; + std::string tag_; + std::stringstream stream_; + int severity_; +}; + +// ---------------------- Logging Macro definitions -------------------------- + +// This class is used to explicitly ignore values in the conditional +// logging macros. This avoids compiler warnings like "value computed +// is not used" and "statement has no effect". +class MYNTEYE_API LoggerVoidify { + public: + LoggerVoidify() { } + // This has to be an operator with a precedence lower than << but + // higher than ?: + void operator&(const std::ostream &s) { } +}; + +// Log only if condition is met. Otherwise evaluates to void. +#define LOG_IF(severity, condition) \ + !(condition) ? (void) 0 : LoggerVoidify() & \ + MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream() + +// Log only if condition is NOT met. Otherwise evaluates to void. +#define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition)) + +// LG is a convenient shortcut for LOG(INFO). Its use is in new +// google3 code is discouraged and the following shortcut exists for +// backward compatibility with existing code. +#ifdef MAX_LOG_LEVEL +# define LOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL) +# define VLOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL) +# define LG LOG_IF(INFO, INFO <= MAX_LOG_LEVEL) +# define VLOG_IF(n, condition) LOG_IF(n, (n <= MAX_LOG_LEVEL) && condition) +#else +# define LOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream() // NOLINT +# define VLOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream() // NOLINT +# define LG MessageLogger((char *)__FILE__, __LINE__, "native", INFO).stream() // NOLINT +# define VLOG_IF(n, condition) LOG_IF(n, condition) +#endif + +// Currently, VLOG is always on for levels below MAX_LOG_LEVEL. +#ifndef MAX_LOG_LEVEL +# define VLOG_IS_ON(x) (1) +#else +# define VLOG_IS_ON(x) (x <= MAX_LOG_LEVEL) +#endif + +#ifndef NDEBUG +# define DLOG LOG +#else +# define DLOG(severity) true ? (void) 0 : LoggerVoidify() & \ + MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream() +#endif + + +// Log a message and terminate. +template +void LogMessageFatal(const char *file, int line, const T &message) { + MessageLogger((char *)__FILE__, __LINE__, "native", FATAL).stream() + << message; +} + +// ---------------------------- CHECK macros --------------------------------- + +// Check for a given boolean condition. +#define CHECK(condition) LOG_IF_FALSE(FATAL, condition) \ + << "Check failed: " #condition " " + +#ifndef NDEBUG +// Debug only version of CHECK +# define DCHECK(condition) LOG_IF_FALSE(FATAL, condition) \ + << "Check failed: " #condition " " +#else +// Optimized version - generates no code. +# define DCHECK(condition) if (false) LOG_IF_FALSE(FATAL, condition) \ + << "Check failed: " #condition " " +#endif // NDEBUG + +// ------------------------- CHECK_OP macros --------------------------------- + +// Generic binary operator check macro. This should not be directly invoked, +// instead use the binary comparison macros defined below. +#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, ((val1) op (val2))) \ + << "Check failed: " #val1 " " #op " " #val2 " " + +// Check_op macro definitions +#define CHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==) +#define CHECK_NE(val1, val2) CHECK_OP(val1, val2, !=) +#define CHECK_LE(val1, val2) CHECK_OP(val1, val2, <=) +#define CHECK_LT(val1, val2) CHECK_OP(val1, val2, <) +#define CHECK_GE(val1, val2) CHECK_OP(val1, val2, >=) +#define CHECK_GT(val1, val2) CHECK_OP(val1, val2, >) + +#ifndef NDEBUG +// Debug only versions of CHECK_OP macros. +# define DCHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==) +# define DCHECK_NE(val1, val2) CHECK_OP(val1, val2, !=) +# define DCHECK_LE(val1, val2) CHECK_OP(val1, val2, <=) +# define DCHECK_LT(val1, val2) CHECK_OP(val1, val2, <) +# define DCHECK_GE(val1, val2) CHECK_OP(val1, val2, >=) +# define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >) +#else +// These versions generate no code in optimized mode. +# define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==) +# define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=) +# define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=) +# define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <) +# define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=) +# define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >) +#endif // NDEBUG + +// ---------------------------CHECK_NOTNULL macros --------------------------- + +// Helpers for CHECK_NOTNULL(). Two are necessary to support both raw pointers +// and smart pointers. +template +T& CheckNotNullCommon(const char *file, int line, const char *names, T& t) { + if (t == NULL) { + LogMessageFatal(file, line, std::string(names)); + } + return t; +} + +template +T* CheckNotNull(const char *file, int line, const char *names, T* t) { + return CheckNotNullCommon(file, line, names, t); +} + +template +T& CheckNotNull(const char *file, int line, const char *names, T& t) { + return CheckNotNullCommon(file, line, names, t); +} + +// Check that a pointer is not null. +#define CHECK_NOTNULL(val) \ + CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val)) + +#ifndef NDEBUG +// Debug only version of CHECK_NOTNULL +#define DCHECK_NOTNULL(val) \ + CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val)) +#else +// Optimized version - generates no code. +#define DCHECK_NOTNULL(val) if (false)\ + CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val)) +#endif // NDEBUG + +// #include "ceres/internal/reenable_warnings.h" + +#endif // CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_ diff --git a/CMakeLists.txt b/CMakeLists.txt index ed9d1ce..0605ead 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -55,7 +55,7 @@ macro(target_link_threads NAME) target_compile_options(PUBLIC ${NAME} "-pthread") endif() if(CMAKE_THREAD_LIBS_INIT) - target_link_libraries(${NAME} "${CMAKE_THREAD_LIBS_INIT}") + target_link_libraries(${NAME} PUBLIC "${CMAKE_THREAD_LIBS_INIT}") endif() endmacro() @@ -264,12 +264,12 @@ endif() #message(STATUS "MYNTEYE_LINKLIBS: ${MYNTEYE_LINKLIBS}") add_library(${MYNTEYE_NAME} SHARED ${MYNTEYE_SRCS}) -target_link_libraries(${MYNTEYE_NAME} ${MYNTEYE_LINKLIBS}) +target_link_libraries(${MYNTEYE_NAME} PUBLIC ${MYNTEYE_LINKLIBS}) if(OS_MAC) - target_link_libraries( ${MYNTEYE_NAME} ${OSX_EXTRA_LIBS} ) + target_link_libraries(${MYNTEYE_NAME} PUBLIC ${OSX_EXTRA_LIBS} ) endif() if(WITH_CAM_MODELS) - target_link_libraries(${MYNTEYE_NAME} camodocal) + target_link_libraries(${MYNTEYE_NAME} PRIVATE camodocal) endif() target_link_threads(${MYNTEYE_NAME}) @@ -335,7 +335,7 @@ if(NOT WITH_GLOG) endif() if(WITH_CAM_MODELS) install(FILES - ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/ceres/include/ceres/internal/miniglog/glog/logging.h + ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/glog/logging.h DESTINATION ${MYNTEYE_CMAKE_INCLUDE_DIR}/glog ) endif() @@ -360,12 +360,7 @@ if(WITH_API) ) endif() -set(__install_targets ${MYNTEYE_NAME}) -if(WITH_CAM_MODELS) - list(APPEND __install_targets camodocal) -endif() - -install(TARGETS ${__install_targets} +install(TARGETS ${MYNTEYE_NAME} EXPORT ${MYNTEYE_NAME}-targets RUNTIME DESTINATION ${MYNTEYE_CMAKE_BINDIR} LIBRARY DESTINATION ${MYNTEYE_CMAKE_LIBDIR}