Statically linked g2o command line application

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.12)
 set(CMAKE_LEGACY_CYGWIN_WIN32 0)
 
 project(g2o)

README.md

@@ -1,3 +1,39 @@
+# g2o - static
+### Static executable
+This fork adds cmake build targets to compile a static version of the g2o command line 
+executable (cli). The static binary can be useful in situations where a installation/compilation
+is not possible on a target system. The static binary includes all dependencies and therefore does 
+not require any dynamic libraries at runtime.
+
+### Dynamic library without dependencies
+Furthermore we provide a dynamic g2o library that mimics the command line client interface. 
+Dependencies are also linked into the library to provide a maximum of encapsulation.
+
+### Building
+Setting up cmake
+```
+mkdir build
+cd build
+cmake -DG2O_BUILD_LINKED_APPS=ON \
+        -DBUILD_CSPARSE=ON \
+        -DG2O_USE_OPENGL=OFF \
+        -DG2O_USE_OPENMP=OFF \
+        -DBUILD_SHARED_LIBS=OFF \
+        -DBUILD_LGPL_SHARED_LIBS=OFF \
+        -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+        ..
+```
+To build the library run
+
+`make g2o_lib`
+
+To build the static g2o cli executable
+
+`make g2o_cli_application_static`
+
+The static executable should then be in `bin/g2o_static` while the library is located in `lib/libg2o_lib.so` 
+
+***************************************
 g2o - General Graph Optimization
 ================================
 

g2o/apps/CMakeLists.txt

@@ -11,4 +11,6 @@ endif()
 
 if(G2O_BUILD_LINKED_APPS)
   add_subdirectory(linked_binaries)
+  add_subdirectory(g2o_cli_static)
+  add_subdirectory(g2o_lib)
 endif()

g2o/apps/g2o_cli/g2o.cpp

@@ -33,9 +33,9 @@
 #include <algorithm>
 #include <cassert>
 
-#include "dl_wrapper.h"
-#include "output_helper.h"
-#include "g2o_common.h"
+#include "g2o/apps/g2o_cli/dl_wrapper.h"
+#include "g2o/apps/g2o_cli/output_helper.h"
+#include "g2o/apps/g2o_cli/g2o_common.h"
 
 #include "g2o/config.h"
 #include "g2o/core/estimate_propagator.h"
@@ -57,6 +57,25 @@
 #include "g2o/stuff/string_tools.h"
 #include "g2o/stuff/timeutil.h"
 
+// include dependencies into the g2o cli
+#ifdef G2O_STATIC_LINK_LIBRARIES
+G2O_USE_TYPE_GROUP(slam2d);
+G2O_USE_TYPE_GROUP(slam2d_segment);
+G2O_USE_TYPE_GROUP(slam3d);
+G2O_USE_TYPE_GROUP(slam3d_addons);
+G2O_USE_TYPE_GROUP(sba);
+
+// static linking of cholmod does not work due to OpenMP
+G2O_USE_OPTIMIZATION_LIBRARY(eigen);
+G2O_USE_OPTIMIZATION_LIBRARY(csparse);
+G2O_USE_OPTIMIZATION_LIBRARY(pcg);
+G2O_USE_OPTIMIZATION_LIBRARY(dense);
+G2O_USE_OPTIMIZATION_LIBRARY(slam2d_linear);
+G2O_USE_OPTIMIZATION_LIBRARY(structure_only);
+
+G2O_USE_ROBUST_KERNEL(RobustKernelHuber);
+#endif // G2O_STATIC_LINK_LIBRARIES
+
 static bool hasToStop=false;
 
 using namespace std;
@@ -188,6 +207,7 @@ int main(int argc, char** argv)
 
   OptimizationAlgorithmFactory* solverFactory = OptimizationAlgorithmFactory::instance();
   if (listSolvers) {
+    cout << "Listing solvers" << endl;
     solverFactory->listSolvers(cout);
   }
 

g2o/apps/g2o_cli_static/CMakeLists.txt

@@ -0,0 +1,62 @@
+# Provide a build target to statically link the
+# g2o commandline application. The resulting binary
+# includes all dependencies and can work as a
+# standalone application.
+#
+# Static linking does not work with opengl or shared libs.
+# Use the following cmake configuration:
+#
+#  -DG2O_USE_OPENGL=OFF
+#  -DBUILD_LGPL_SHARED_LIBS=OFF
+#  -DBUILD_SHARED_LIBS=OFF
+#  -DG2O_BUILD_LINKED_APPS=ON
+#
+if (NOT (G2O_USE_OPENGL OR BUILD_LGPL_SHARED_LIBS OR BUILD_SHARED_LIBS))
+    # disable dynamic loading of libraries in the standard apps
+    add_compile_definitions(G2O_DISABLE_DYNAMIC_LOADING_OF_LIBRARIES)
+    add_compile_definitions(G2O_STATIC_LINK_LIBRARIES)
+
+    # statically linked cli executable
+    add_executable(g2o_cli_application_static
+            ../g2o_cli/g2o.cpp)
+
+    include_directories(${CSPARSE_INCLUDE_DIR})
+
+    # enable static linking of the g2o_cli application
+    # (MacOS does not support static binaries)
+    if (NOT APPLE)
+        target_link_libraries(g2o_cli_application_static -static)
+    endif ()
+    target_link_libraries(g2o_cli_application_static g2o_cli_library)
+    set_target_properties(g2o_cli_application_static PROPERTIES OUTPUT_NAME g2o_static${EXE_POSTFIX})
+
+    # linking solvers
+    target_link_libraries(g2o_cli_application_static
+            solver_csparse
+            solver_pcg
+            solver_dense
+            solver_slam2d_linear
+            solver_structure_only
+            solver_eigen)
+
+    # linking types
+    target_link_libraries(g2o_cli_application_static
+            types_slam2d
+            types_slam2d_addons
+            types_slam3d
+            types_slam3d_addons
+            types_sba
+            types_sclam2d
+            )
+
+    install(TARGETS g2o_cli_application_static
+            RUNTIME DESTINATION ${RUNTIME_DESTINATION}
+            LIBRARY DESTINATION ${LIBRARY_DESTINATION}
+            ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
+            INCLUDES DESTINATION ${INCLUDES_DESTINATION}
+            )
+
+    file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
+    install(FILES ${headers} DESTINATION ${INCLUDES_INSTALL_DIR}/apps/linked_binaries)
+
+endif ()

g2o/apps/g2o_lib/CMakeLists.txt

@@ -0,0 +1,53 @@
+# Dynamic g2o library without dependencies.
+#
+# Create a g2o library that mimics the g2o cli executable and
+# includes all solvers, types, and kernels.
+#
+#  -DG2O_USE_OPENGL=OFF
+#  -DBUILD_LGPL_SHARED_LIBS=OFF
+#  -DBUILD_SHARED_LIBS=OFF
+#  -DCMAKE_POSITION_INDENPENDENT_CODE=ON
+#
+if (NOT (G2O_USE_OPENGL OR BUILD_LGPL_SHARED_LIBS OR BUILD_SHARED_LIBS OR NOT CMAKE_POSITION_INDEPENDENT_CODE))
+    # disable dynamic loading of libraries in the standard apps
+    add_definitions(-DG2O_DISABLE_DYNAMIC_LOADING_OF_LIBRARIES)
+
+    # g2o library without dependencies
+    add_library(g2o_lib SHARED
+            g2o_lib.cpp
+            )
+
+    include_directories(${CSPARSE_INCLUDE_DIR})
+
+    target_link_libraries(g2o_lib g2o_cli_library)
+
+    # linking solvers
+    target_link_libraries(g2o_lib
+            solver_csparse
+            solver_pcg
+            solver_dense
+            solver_slam2d_linear
+            solver_structure_only
+            solver_eigen)
+
+    # linking types
+    target_link_libraries(g2o_lib
+            types_slam2d
+            types_slam2d_addons
+            types_slam3d
+            types_slam3d_addons
+            types_sba
+            types_sclam2d
+            )
+
+    install(TARGETS g2o_lib
+            RUNTIME DESTINATION ${RUNTIME_DESTINATION}
+            LIBRARY DESTINATION ${LIBRARY_DESTINATION}
+            ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
+            INCLUDES DESTINATION ${INCLUDES_DESTINATION}
+            )
+
+    file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
+    install(FILES ${headers} DESTINATION ${INCLUDES_INSTALL_DIR}/apps/linked_binaries)
+
+endif ()