cartographer: remove boost & set ceres-solver version (#3146)
* cartographer: add patch to remove boost * cartographer: fix patch & fix ceres-solver * cartographer: remove `windows|x86` * ceres-solver: re-add windows|x86 * cartographer: add windows|x86 * ceres-solver: use suitesparse 5.x if under version 2.2.0 * suitesparse: remove limits for windows * suiteparse: limit add version v7.5.1 * suitesparse: add link graphblas * suitesparse: use config to add graphblas * suitesparse: able to set graphblas option with string * suitesparse: make graphblas shared by default on versions ge 7.4.0 * cartographer: add cstring & set ceres-solver version * cartographer: revert changes to other packagespull/3166/head
Chi Huu Huynh
1 year ago
committed by
GitHub
parent
6d1d7688c4
commit
61b80fe52c
3 changed files with 90 additions and 5 deletions
@ -0,0 +1,87 @@ |
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diff --git a/cartographer/common/port.h b/cartographer/common/port.h
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index 338861f..252c566 100644
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--- a/cartographer/common/port.h
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+++ b/cartographer/common/port.h
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@@ -19,11 +19,12 @@
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#include <cinttypes>
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#include <cmath>
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+#include <cstring>
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#include <string>
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+#include <stdexcept>
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+#include <functional>
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-#include <boost/iostreams/device/back_inserter.hpp>
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-#include <boost/iostreams/filter/gzip.hpp>
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-#include <boost/iostreams/filtering_stream.hpp>
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+#include <zlib.h>
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namespace cartographer {
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@@ -48,22 +49,54 @@ inline int64 RoundToInt64(const double x) { return std::lround(x); }
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inline void FastGzipString(const std::string& uncompressed,
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std::string* compressed) {
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- boost::iostreams::filtering_ostream out;
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- out.push(
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- boost::iostreams::gzip_compressor(boost::iostreams::zlib::best_speed));
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- out.push(boost::iostreams::back_inserter(*compressed));
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- boost::iostreams::write(out,
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- reinterpret_cast<const char*>(uncompressed.data()),
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- uncompressed.size());
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+ z_stream zs;
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+ memset(&zs, 0, sizeof(zs));
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+
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+ if (deflateInit(&zs, Z_BEST_SPEED) != Z_OK)
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+ throw std::runtime_error("deflateInit failed while compressing.");
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+
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+ zs.next_in = reinterpret_cast<Bytef*>(const_cast<char*>(uncompressed.data()));
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+ zs.avail_in = static_cast<uInt>(uncompressed.size());
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+
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+ int ret;
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+ char buffer[4096];
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+
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+ do {
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+ zs.next_out = reinterpret_cast<Bytef*>(buffer);
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+ zs.avail_out = sizeof(buffer);
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+
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+ ret = deflate(&zs, Z_FINISH);
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+
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+ compressed->append(buffer, sizeof(buffer) - zs.avail_out);
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+ } while (zs.avail_out == 0);
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+
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+ deflateEnd(&zs);
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}
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inline void FastGunzipString(const std::string& compressed,
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std::string* decompressed) {
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- boost::iostreams::filtering_ostream out;
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- out.push(boost::iostreams::gzip_decompressor());
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- out.push(boost::iostreams::back_inserter(*decompressed));
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- boost::iostreams::write(out, reinterpret_cast<const char*>(compressed.data()),
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- compressed.size());
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+ z_stream zs;
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+ memset(&zs, 0, sizeof(zs));
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+
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+ if (inflateInit(&zs) != Z_OK)
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+ throw std::runtime_error("inflateInit failed while decompressing.");
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+
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+ zs.next_in = reinterpret_cast<Bytef*>(const_cast<char*>(compressed.data()));
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+ zs.avail_in = static_cast<uInt>(compressed.size());
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+
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+ int ret;
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+ char buffer[4096];
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+
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+ do {
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+ zs.next_out = reinterpret_cast<Bytef*>(buffer);
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+ zs.avail_out = sizeof(buffer);
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+
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+ ret = inflate(&zs, Z_NO_FLUSH);
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+
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+ decompressed->append(buffer, sizeof(buffer) - zs.avail_out);
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+ } while (zs.avail_out == 0);
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+
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+ inflateEnd(&zs);
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}
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} // namespace common
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