mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
59 lines
1.7 KiB
Diff
59 lines
1.7 KiB
Diff
|
diff --git a/CMakeLists.txt b/CMakeLists.txt
|
||
|
|
index 2e9de0c..6a031c7 100644
|
||
|
|
--- a/CMakeLists.txt
|
||
|
|
+++ b/CMakeLists.txt
|
||
|
|
@@ -103,16 +103,7 @@ endif ()
|
||
|
|
include(GNUInstallDirs)
|
||
|
|
|
||
|
|
# eigen 2 or 3
|
||
|
|
-find_path(EIGEN_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
|
||
|
|
- HINTS ENV EIGEN3_INC_DIR
|
||
|
|
- ENV EIGEN3_DIR
|
||
|
|
- PATHS Eigen/Core
|
||
|
|
- /usr/local/include
|
||
|
|
- /usr/include
|
||
|
|
- /opt/local/include
|
||
|
|
- PATH_SUFFIXES include eigen3 eigen2 eigen
|
||
|
|
- DOC "Directory containing the Eigen3 header files"
|
||
|
|
-)
|
||
|
|
+find_package(Eigen3 REQUIRED)
|
||
|
|
|
||
|
|
# optionally, opencl
|
||
|
|
# OpenCL disabled as its code is not up-to-date with API
|
||
|
|
@@ -165,10 +156,10 @@ endif ()
|
||
|
|
set_target_properties(${LIB_NAME} PROPERTIES VERSION "${PROJECT_VERSION}" SOVERSION 1)
|
||
|
|
|
||
|
|
target_include_directories(${LIB_NAME} PUBLIC
|
||
|
|
- ${EIGEN_INCLUDE_DIR}
|
||
|
|
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
|
||
|
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
|
||
|
|
)
|
||
|
|
+target_link_libraries(${LIB_NAME} PUBLIC Eigen3::Eigen)
|
||
|
|
|
||
|
|
# openmp
|
||
|
|
set(USE_OPEN_MP TRUE CACHE BOOL "Set to FALSE to not use OpenMP")
|
||
|
|
diff --git a/libnaboConfig.cmake.in b/libnaboConfig.cmake.in
|
||
|
|
index 0de01c3..8bb8194 100644
|
||
|
|
--- a/libnaboConfig.cmake.in
|
||
|
|
+++ b/libnaboConfig.cmake.in
|
||
|
|
@@ -1,5 +1,7 @@
|
||
|
|
# - Config file for the libnabo package
|
||
|
|
|
||
|
|
+find_dependency(Eigen3 CONFIG)
|
||
|
|
+
|
||
|
|
include(${CMAKE_CURRENT_LIST_DIR}/libnabo-targets.cmake)
|
||
|
|
|
||
|
|
# This causes catkin_simple to link against these libraries
|
||
|
|
diff --git a/nabo/kdtree_cpu.cpp b/nabo/kdtree_cpu.cpp
|
||
|
|
index cb1f8d1..52a444f 100644
|
||
|
|
--- a/nabo/kdtree_cpu.cpp
|
||
|
|
+++ b/nabo/kdtree_cpu.cpp
|
||
|
|
@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
#include <queue>
|
||
|
|
#include <algorithm>
|
||
|
|
#include <utility>
|
||
|
|
+#include <cassert>
|
||
|
|
#ifdef HAVE_OPENMP
|
||
|
|
#include <omp.h>
|
||
|
|
#endif
|