rtabmap/CMakeLists.txt

# Top-Level CmakeLists.txt
cmake_minimum_required(VERSION 3.14)

PROJECT( RTABMap )
SET(PROJECT_PREFIX rtabmap)

# Catkin doesn't support multiarch library path, 
# fix to "lib" if not set by user.
OPTION(MULTI_ARCH "Activate multi-arch lib directory (debian)" OFF)
IF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
   set(CMAKE_INSTALL_LIBDIR "lib")
ENDIF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)

INCLUDE(GNUInstallDirs)
INCLUDE(FetchContent)

####### local cmake modules #######
SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")

#######################
# VERSION
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 23)
SET(RTABMAP_PATCH_VERSION 11)
SET(RTABMAP_VERSION
  ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})

# Make sure we have valid version so that RTABMAP_VERSION_COMPARE logic in Version.h works
IF(RTABMAP_MINOR_VERSION GREATER 99)
MESSAGE(FATAL_ERROR "RTABMAP_MINOR_VERSION must be < 100, bump major version and restart minor to 0!")
ENDIF()
IF(RTABMAP_PATCH_VERSION GREATER 99)
MESSAGE(FATAL_ERROR "RTABMAP_PATCH_VERSION must be < 100, bump minor version and restart patch to 0!")
ENDIF()
  
SET(PROJECT_VERSION "${RTABMAP_VERSION}")

SET(PROJECT_VERSION_MAJOR ${RTABMAP_MAJOR_VERSION})
SET(PROJECT_VERSION_MINOR ${RTABMAP_MINOR_VERSION})
SET(PROJECT_VERSION_PATCH ${RTABMAP_PATCH_VERSION})

SET(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")

####### COMPILATION PARAMS #######
# In case of Makefiles if the user does not setup CMAKE_BUILD_TYPE, assume it's Release:
IF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
    IF("${CMAKE_BUILD_TYPE}" STREQUAL "")
        set(CMAKE_BUILD_TYPE Release)
    ENDIF("${CMAKE_BUILD_TYPE}" STREQUAL "")
ENDIF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")

SET(MOBILE_BUILD OFF)
IF(ANDROID OR CMAKE_SYSTEM_NAME STREQUAL "iOS")
    SET(MOBILE_BUILD ON)
ENDIF(ANDROID OR CMAKE_SYSTEM_NAME STREQUAL "iOS")
MESSAGE(STATUS "MOBILE_BUILD=${MOBILE_BUILD}")

IF(NOT MOBILE_BUILD)
    SET(CMAKE_DEBUG_POSTFIX "d")
    option(FLANN_KDTREE_MEM_OPT  "Disable multi-threaded FLANN kd-tree to minimize memory allocations"   OFF)
ELSE()
    option(FLANN_KDTREE_MEM_OPT  "Disable multi-threaded FLANN kd-tree to minimize memory allocations"   ON)
ENDIF()

IF(WIN32 AND NOT MINGW)
    ADD_DEFINITIONS("-DNOMINMAX")
    ADD_DEFINITIONS("-wd4100 -wd4127 -wd4150 -wd4191 -wd4242 -wd4244 -wd4251 -wd4305 -wd4365 -wd4512 -wd4514 -wd4548 -wd4571 -wd4619 -wd4625 -wd4626 -wd4628 -wd4668 -wd4710 -wd4711 -wd4738 -wd4820 -wd4946 -wd4986")
ELSE ()
    ADD_DEFINITIONS( "-Wall -Wtype-limits" )
    ADD_DEFINITIONS("-Wno-unknown-pragmas")
ENDIF()

if(POLICY CMP0020)
    cmake_policy(SET CMP0020 NEW)
endif()
if(POLICY CMP0043)
    cmake_policy(SET CMP0043 NEW)
endif()
# To suppress g2o related opengl warning
if(POLICY CMP0072)
    cmake_policy(SET CMP0072 NEW)
endif()
# Timestamp the files extracted from a FetchContent URL download at extraction
# time, so a changed URL actually triggers a rebuild of what depends on them.
if(POLICY CMP0135)
    cmake_policy(SET CMP0135 NEW)
endif()

IF(MINGW)
    # Hide the --enable-auto-import warning
    SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--enable-auto-import")
    SET(CMAKE_MODULE_LINKER_FLAGS "-Wl,--enable-auto-import")
    SET(CMAKE_SHARED_LINKER_FLAGS "-Wl,--enable-auto-import")
ENDIF(MINGW)

#The CDT Error Parser cannot handle error messages that span 
#more than one line, which is the default gcc behavior. 
#In order to force gcc to generate single line error messages with no line wrapping
IF(CMAKE_COMPILER_IS_GNUCC)
  SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fmessage-length=0")
ENDIF(CMAKE_COMPILER_IS_GNUCC)
IF(CMAKE_COMPILER_IS_GNUCXX)
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fmessage-length=0")
ENDIF(CMAKE_COMPILER_IS_GNUCXX)

if(MSVC)
  if(MSVC_VERSION GREATER 1500 AND ${CMAKE_VERSION} VERSION_GREATER "2.8.6")
    include(ProcessorCount)
    ProcessorCount(N)
    if(NOT N EQUAL 0)
      SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /MP${N}")
      SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP${N}")
    endif()
  endif()
  add_compile_options("/bigobj")
endif()

# [Eclipse] Automatic Discovery of Include directories (Optional, but handy) 
#SET(CMAKE_VERBOSE_MAKEFILE ON)

#Other paths...
IF(APPLE)
   # For Mac ports
   SET(CMAKE_INCLUDE_PATH "/opt/local/include;${CMAKE_INCLUDE_PATH}")
   SET(CMAKE_LIBRARY_PATH "/opt/local/lib;${CMAKE_LIBRARY_PATH}")
ENDIF()

####### Build libraries as shared or static #######
OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )


####### OUTPUT DIR #######
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)

# Avoid Visual Studio bin/Release and bin/Debug sub directories
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")

####### INSTALL DIR #######
set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION})
if(WIN32 AND NOT CYGWIN)
  set(DEF_INSTALL_CMAKE_DIR CMake)
else()
  set(DEF_INSTALL_CMAKE_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION})
endif()
set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR})
  
####### BUILD OPTIONS #######
include (GenerateExportHeader)
# ANDROID_PREBUILD (early exit if true)
OPTION( ANDROID_PREBUILD "Set to ON to build rtabmap resource build tool (required for android build)" OFF )
IF(ANDROID_PREBUILD)
   MESSAGE("Option ANDROID_PREBUILD is set, only rtabmap resource tool will be built. You can use android toolchain after that.")
   ADD_SUBDIRECTORY( utilite )
   return()
ENDIF(ANDROID_PREBUILD)

IF(APPLE OR WIN32)
    OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle with all embedded dependencies (DragNDrop for Mac, installer for Windows)" OFF)
ENDIF(APPLE OR WIN32)
OPTION(BUILD_APP "Build main application" ON)
OPTION(BUILD_TOOLS "Build tools" ON)
OPTION(BUILD_EXAMPLES "Build examples" ON)
# Off by default: it downloads the Doxygen theme at configure time, which an
# ordinary build has no reason to need. Set by docs-report.sh.
OPTION(BUILD_DOCUMENTATION "Prepare the API documentation build (downloads the Doxygen theme)" OFF)

# The unit tests are host executables run by ctest, which can't be done from a
# cross-compiled Android/iOS build.
if(ANDROID OR IOS OR CMAKE_SYSTEM_NAME STREQUAL "iOS")
   set(BUILD_TESTING OFF CACHE BOOL "Build the testing tree." FORCE)
endif()

# Performance tests are benchmarks: they report times, memory and recall
# instead of asserting on them, as those depend on the machine. They are built
# by default so they cannot rot, but are labelled "performance" so that a run
# opts in with `ctest -L performance` and CI opts out with `ctest -LE
# performance`. They can also be run directly, e.g. bin/test_flann_index_perf.
OPTION(BUILD_PERF_TESTS "Build the performance tests (see ctest -L performance)" ON)

include(CTest)
if(BUILD_TESTING)
   # Add GTest using FetchContent
   include(FetchContent)
   FetchContent_Declare(
       googletest
       URL https://github.com/google/googletest/archive/refs/tags/v1.16.0.zip
   )
   FetchContent_GetProperties(googletest)
   if(NOT googletest_POPULATED)
     FetchContent_Populate(googletest)
     add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR})
   endif()
   include(GoogleTest)
   set(TEST_DATA_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/data"
       CACHE PATH "Root directory holding the test fixtures (data/tests/*.db)")
endif()

OPTION(ENABLE_COVERAGE "Build with gcov/lcov coverage (GCC/Clang, Debug only; see coverage-report.sh)" OFF)
IF(ENABLE_COVERAGE)
   IF(NOT CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
      MESSAGE(FATAL_ERROR "ENABLE_COVERAGE requires GCC or Clang with gcov/lcov (current: ${CMAKE_CXX_COMPILER_ID}).")
   ENDIF()
   IF(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
      MESSAGE(FATAL_ERROR "ENABLE_COVERAGE requires CMAKE_BUILD_TYPE=Debug (current: \"${CMAKE_BUILD_TYPE}\").")
   ENDIF()
   MESSAGE(STATUS "Coverage instrumentation enabled")
   ADD_COMPILE_OPTIONS(--coverage -O0 -g)
   ADD_LINK_OPTIONS(--coverage)
ENDIF()

# Check UDEBUG/UINFO/UWARN/UERROR/uFormat format strings against their
# arguments.
# -Wno-format-zero-length: UDEBUG("") is used deliberately as a trace point
# -Wformat-security: non-literal format strings, e.g. UERROR(uFormat(...).c_str())
OPTION(ENABLE_FORMAT_ERRORS "Treat log/uFormat format-string mismatches as errors (GCC/Clang)" OFF)
IF(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
   ADD_COMPILE_OPTIONS(-Wformat -Wformat-security -Wno-format-zero-length)
   IF(ENABLE_FORMAT_ERRORS)
      MESSAGE(STATUS "Format-string mismatches are errors")
      ADD_COMPILE_OPTIONS(-Werror=format -Werror=format-security)
   ENDIF()
ELSEIF(ENABLE_FORMAT_ERRORS)
   MESSAGE(WARNING "ENABLE_FORMAT_ERRORS has no effect on ${CMAKE_CXX_COMPILER_ID} (needs GCC/Clang)")
ENDIF()

####### DEPENDENCIES #######
IF(MOBILE_BUILD)
option(WITH_QT            "Include Qt support"                   OFF)
ELSE()
option(WITH_QT            "Include Qt support"                   ON)
ENDIF()
option(WITH_ORB_OCTREE    "Include ORB Octree feature support"   ON)
option(WITH_TORCH         "Include Torch support (SuperPoint)"   OFF)
option(WITH_PYTHON        "Include Python3 support (PyMatcher, PyDetector)"  OFF)
option(WITH_PYTHON_THREADING  "Use more than one Python interpreter."  OFF)
option(WITH_PDAL          "Include PDAL support"                 ON)
option(WITH_LIBLAS        "Include libLAS support"               OFF)
option(WITH_CUDASIFT      "Include CudaSift support (this fork https://github.com/matlabbe/CudaSift)" OFF) 
option(WITH_FREENECT      "Include Freenect support"             ON)
option(WITH_FREENECT2     "Include Freenect2 support"            ON)
option(WITH_K4W2          "Include Kinect for Windows v2 support" ON)
option(WITH_K4A           "Include Kinect for Azure support"     ON)
option(WITH_OPENNI        "Include OpenNI support"               ON)
option(WITH_OPENNI2       "Include OpenNI2 support"              ON)
option(WITH_DC1394        "Include dc1394 support"               ON)
option(WITH_G2O           "Include g2o support"                  ON)
option(WITH_GTSAM         "Include GTSAM support"                ON)
option(WITH_TORO          "Include TORO support"                 ON)
option(WITH_CERES         "Include Ceres support"                OFF)
option(WITH_MRPT          "Include MRPT support"                 ON)
option(WITH_VERTIGO       "Include Vertigo support"              ON)
option(WITH_CVSBA         "Include cvsba support"                OFF)
option(WITH_POINTMATCHER  "Include libpointmatcher support"      ON)
option(WITH_CCCORELIB     "Include CCCoreLib support"            OFF)
option(WITH_OPEN3D        "Include Open3D support"               OFF)
option(WITH_LOAM          "Include LOAM support"                 OFF)
option(WITH_FLOAM         "Include FLOAM support"                OFF)
option(WITH_LIOSAM        "Include LIO-SAM support"              OFF)
option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
option(WITH_ZED           "Include ZED sdk support"              ON)
option(WITH_ZEDOC         "Include ZED Open Capture support"     ON)
option(WITH_REALSENSE     "Include RealSense support"            ON)
option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
option(WITH_REALSENSE2    "Include RealSense2 support"           ON)
option(WITH_MYNTEYE       "Include mynteye-s support"            ON)
option(WITH_DEPTHAI       "Include depthai-core v2 support"      OFF)
option(WITH_XVSDK         "Include XVisio SDK support"           OFF)
option(WITH_ORBBEC_SDK    "Include Orbbec SDK v2 support"        OFF)
option(WITH_OCTOMAP       "Include OctoMap support"              ON)
option(WITH_GRIDMAP       "Include GridMap support"              OFF)
option(WITH_CPUTSDF       "Include CPUTSDF support"              OFF)
option(WITH_OPENCHISEL    "Include open_chisel support"          OFF)
option(WITH_ALICE_VISION  "Include AliceVision support"          OFF)
option(WITH_FOVIS         "Include FOVIS supp++ort"                OFF)
option(WITH_VISO2         "Include VISO2 support"                OFF)
option(WITH_DVO           "Include DVO support"                  OFF)
option(WITH_ORB_SLAM      "Include ORB_SLAM2 or ORB_SLAM3  support" OFF)
option(WITH_OKVIS         "Include OKVIS support"                OFF)
option(WITH_MSCKF_VIO     "Include MSCKF_VIO support"            OFF)
option(WITH_VINS_FUSION   "Include VINS-Fusion support"          OFF)
option(WITH_OPENVINS      "Include OpenVINS support"             OFF)
option(WITH_CUVSLAM       "Include cuVSLAM support"              OFF)
option(WITH_MADGWICK      "Include Madgwick IMU filtering support" ON)
option(WITH_FASTCV        "Include FastCV support"               ON)
option(WITH_OPENMP        "Include OpenMP support"               ON)
option(WITH_OPENGV        "Include OpenGV support"               ON)
option(BUILD_OPENGV       "Build OpenGV internally instead of using the system one" OFF)
option(WITH_APRILTAG      "Include AprilTag support"             OFF)
IF(MOBILE_BUILD)
option(PCL_OMP            "With PCL OMP implementations"         OFF)
ELSE()
option(PCL_OMP            "With PCL OMP implementations"         ON)
ENDIF()
option(BUILD_WITH_RPATH_NOT_RUNPATH "Explicitly disable usage of RUNPATH for the build tree on linux systems by adding --disable-new-dtags to linker (using old RPATH behavior instead)"    OFF)

set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)

# OpenCV components. calib3d was split into "calib" + "geometry" in OpenCV 5.
# These lists are reused below to generate RTABMapConfig.cmake so downstream
# find_package(RTABMap) requests the same components this build used.
SET(RTABMAP_OpenCV_COMPONENTS_5 core imgproc highgui stitching photo video videoio calib geometry)
SET(RTABMAP_OpenCV_COMPONENTS_4 core imgproc highgui stitching photo video videoio calib3d)
SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5 objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)
SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4 aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)

# Probe OpenCV without a version constraint first, then request the components
# matching the detected major version. A version-constrained find that fails to
# match (e.g. asking for 5 when only 4 is present) resets OpenCV_DIR to NOTFOUND,
# which breaks toolchain builds that rely on a -DOpenCV_DIR hint (e.g. Android,
# where CMAKE_FIND_ROOT_PATH restricts the search).
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core)
IF(OpenCV_VERSION_MAJOR GREATER 4)
  FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5})
ELSE()
  FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4})
ENDIF()

IF(WITH_QT)
FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
ELSE()
FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation )
ENDIF()
if(PCL_COMPILE_OPTIONS)
  if("${PCL_COMPILE_OPTIONS}" MATCHES "-march=native")
    MESSAGE(WARNING "PCL compile options contain \"-march=native\", make sure all libraries using Eigen are also compiled with that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).")
  else()
    MESSAGE(STATUS "PCL compile options don't contain \"-march=native\", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).")
  endif()
else()
  if("${PCL_DEFINITIONS}" MATCHES "-march=native")
    MESSAGE(WARNING "PCL definitions contain \"-march=native\", make sure all libraries using Eigen are also compiled with that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).")
  else()
    MESSAGE(STATUS "PCL definitions don't contain \"-march=native\", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).")
  endif()
endif()

FIND_PACKAGE(ZLIB REQUIRED QUIET)

FIND_PACKAGE(SQLite3 QUIET)
IF(SQLite3_FOUND)
   MESSAGE(STATUS "Found SQLite3: ${SQLite3_INCLUDE_DIRS} ${SQLite3_LIBRARIES}")
ENDIF(SQLite3_FOUND)

if(NOT "${PCL_LIBRARIES}" STREQUAL "")
   # fix libproj.so not found on Xenial
   list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
endif()

# OpenMP ("-fopenmp" should be added for flann included in PCL)
# the gcc-4.2.1 coming with MacOS X is not compatible with the OpenMP pragmas we use, so disabling OpenMP for it
if(((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1) OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")) AND WITH_OPENMP)
  find_package(OpenMP COMPONENTS C CXX)
endif()
if(OPENMP_FOUND)
  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
  set(CMAKE_INSTALL_OPENMP_LIBRARIES TRUE)
  message (STATUS "Found OpenMP: ${OpenMP_CXX_LIBRARIES}")
  if(PCL_OMP)
    message (STATUS "Add PCL_OMP to definitions")
    add_definitions(-DPCL_OMP)
  endif(PCL_OMP)
elseif(WITH_OPENMP)
  message (STATUS "Not found OpenMP")
endif()

IF(OpenCV_FOUND)
   MESSAGE(STATUS "Found OpenCV: ${OpenCV_INCLUDE_DIRS}")
ENDIF(OpenCV_FOUND)
IF(PCL_FOUND)
   MESSAGE(STATUS "Found PCL: ${PCL_INCLUDE_DIRS}")
ENDIF(PCL_FOUND)
IF(ZLIB_FOUND)
   MESSAGE(STATUS "Found ZLIB: ${ZLIB_INCLUDE_DIRS}")
ENDIF(ZLIB_FOUND)

SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF FALSE)
IF(WITH_QT)
    FIND_PACKAGE(VTK)
    IF(NOT VTK_FOUND)
      MESSAGE(FATAL_ERROR "VTK is required when using Qt. Set -DWITH_QT=OFF if you don't want gui tools.")
    ENDIF(NOT VTK_FOUND)

    # If Qt is here, the GUI will be built
    IF(NOT(${VTK_MAJOR_VERSION} LESS 9))
      IF(NOT VTK_QT_VERSION)
        MESSAGE(FATAL_ERROR "WITH_QT option is ON, but VTK ${VTK_MAJOR_VERSION} has not been built with Qt support, disabling Qt.")
      ENDIF()

      option(VTK_GLOBAL_WARNING_DISPLAY  "Show VTK warning display on runtime" OFF)
      IF(NOT VTK_GLOBAL_WARNING_DISPLAY)
        ADD_DEFINITIONS(-DVTK_GLOBAL_WARNING_DISPLAY_OFF)
      ENDIF()

      MESSAGE(STATUS "VTK>=9 detected, will use VTK_QT_VERSION=${VTK_QT_VERSION} for Qt version.")
      IF(${VTK_QT_VERSION} EQUAL 6)
        FIND_PACKAGE(Qt6 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
      ELSEIF(${VTK_QT_VERSION} EQUAL 5)
        FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
      ELSE()
        FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
      ENDIF()
    ELSE()
      # look for Qt5 (if vtk>5 is installed) before Qt4
      IF("${VTK_MAJOR_VERSION}" GREATER 5)
        IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
          FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
        ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
      ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)

      IF(NOT Qt5_FOUND)
        IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
          FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
        ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
      ENDIF(NOT Qt5_FOUND)
    ENDIF()
        
    IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
        # For VCPKG build, set those global variables to off, 
        # we will enable them for jsut specific targets
        set(CMAKE_AUTOMOC OFF)
        set(CMAKE_AUTORCC OFF)
        set(CMAKE_AUTOUIC OFF)
        IF("${VTK_MAJOR_VERSION}" EQUAL 5)
            FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
        ELSE()
            list(FIND PCL_LIBRARIES VTK::GUISupportQt value)
            IF(value EQUAL -1)
                list(FIND PCL_LIBRARIES vtkGUISupportQt value)
                IF(value EQUAL -1)
                    IF(NOT(${VTK_MAJOR_VERSION} LESS 9))
                        SET(PCL_LIBRARIES "${PCL_LIBRARIES};VTK::GUISupportQt")
                    ELSE()
                        SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkGUISupportQt")
                    ENDIF()
                    SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF TRUE)
                ENDIF(value EQUAL -1)
            ENDIF(value EQUAL -1)

            MESSAGE(STATUS "VTK_RENDERING_BACKEND=${VTK_RENDERING_BACKEND}")

            IF(VTK_RENDERING_BACKEND STREQUAL "OpenGL2")
                ADD_DEFINITIONS("-DVTK_OPENGL2")
                # see issue #525
                list(FIND PCL_LIBRARIES vtkRenderingVolumeOpenGL2 value)
                IF(value EQUAL -1)
                    SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkRenderingVolumeOpenGL2")
                ENDIF(value EQUAL -1)
            ELSEIF(VTK_RENDERING_BACKEND STREQUAL "OpenGL")
                # PCL 1.9 not adding vtkRenderingVolumeOpenGL as dependency anymore, so add it for us
                list(FIND PCL_LIBRARIES vtkRenderingVolumeOpenGL value)
                IF(value EQUAL -1)
                    SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkRenderingVolumeOpenGL")
                ENDIF(value EQUAL -1)
            ELSEIF("${VTK_MAJOR_VERSION}" EQUAL 9)
                list(FIND PCL_LIBRARIES VTK::RenderingOpenGL2 value)
                IF(NOT value EQUAL -1)
                    list(FIND PCL_LIBRARIES VTK::RenderingVolumeOpenGL2 value)
                    IF(value EQUAL -1)
                        SET(PCL_LIBRARIES "${PCL_LIBRARIES};VTK::RenderingVolumeOpenGL2")
                    ENDIF(value EQUAL -1)
                ENDIF(NOT value EQUAL -1)
            ENDIF()

        ENDIF()
        ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals/foreach and Qt macros
    ENDIF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
ENDIF(WITH_QT)

IF(NOT VTK_FOUND)
    # Newest PCL versions won't set -DDISABLE_VTK
    IF(NOT "${PCL_DEFINITIONS}" MATCHES "-DDISABLE_VTK")
        SET(PCL_DEFINITIONS "${PCL_DEFINITIONS};-DDISABLE_VTK")
    ENDIF()
ENDIF(NOT VTK_FOUND)

IF(WITH_TORCH)
    FIND_PACKAGE(Torch)
    IF(TORCH_FOUND)
        MESSAGE(STATUS "Found Torch: ${TORCH_INCLUDE_DIRS}")
    ENDIF(TORCH_FOUND)
ENDIF(WITH_TORCH)

IF(WITH_PYTHON)
    FIND_PACKAGE(Python3 COMPONENTS Interpreter Development NumPy)
    IF(Python3_FOUND)
        MESSAGE(STATUS "Found Python3")
        FIND_PACKAGE(pybind11 REQUIRED)
    ENDIF(Python3_FOUND)
ENDIF(WITH_PYTHON)

IF(WITH_PDAL)
    FIND_PACKAGE(PDAL QUIET)
    IF(PDAL_FOUND)
       MESSAGE(STATUS "Found PDAL ${PDAL_VERSION}: ${PDAL_INCLUDE_DIRS}")
    ENDIF(PDAL_FOUND)
ENDIF(WITH_PDAL)

IF(WITH_LIBLAS)
    FIND_PACKAGE(libLAS)
    IF(libLAS_FOUND)
       MESSAGE(STATUS "Found libLAS ${libLAS_VERSION}: ${libLAS_INCLUDE_DIRS}")
    ENDIF(libLAS_FOUND)
ENDIF(WITH_LIBLAS)

IF(WITH_CUDASIFT)
    FIND_PACKAGE(CudaSift 3)
    IF(CudaSift_FOUND)
       MESSAGE(STATUS "Found CudaSift")
    ENDIF(CudaSift_FOUND)
ENDIF(WITH_CUDASIFT)

IF(WITH_FREENECT)
    FIND_PACKAGE(Freenect QUIET)
    IF(Freenect_FOUND)
       MESSAGE(STATUS "Found Freenect: ${Freenect_INCLUDE_DIRS}")
    ENDIF(Freenect_FOUND)
ENDIF(WITH_FREENECT)

IF(WITH_FREENECT2)
    FIND_PACKAGE(freenect2 QUIET)
    IF(freenect2_FOUND)
       IF(NOT freenect2_INCLUDE_DIRS)
          SET(freenect2_INCLUDE_DIRS ${freenect2_INCLUDE_DIR})
       ENDIF(NOT freenect2_INCLUDE_DIRS)
       MESSAGE(STATUS "Found freenect2: ${freenect2_INCLUDE_DIRS}")
       # Explicitly link to OpenCL (in case of CUDA installed)
       FIND_PACKAGE(OpenCL QUIET)
       IF(OpenCL_FOUND)
          SET(freenect2_LIBRARIES
            ${OpenCL_LIBRARIES}
            ${freenect2_LIBRARIES}
          )
       ENDIF(OpenCL_FOUND)
    ENDIF(freenect2_FOUND)
ENDIF(WITH_FREENECT2)

IF(WITH_K4W2 AND WIN32)
    FIND_PACKAGE(KinectSDK2 QUIET)
    IF(KinectSDK2_FOUND)
       MESSAGE(STATUS "Found Kinect for Windows 2: ${KinectSDK2_INCLUDE_DIRS}")
    ENDIF(KinectSDK2_FOUND)
ENDIF(WITH_K4W2 AND WIN32)

IF(WITH_K4A)
    IF(WIN32)
        FIND_PACKAGE(K4A QUIET)
    ELSE()
        FIND_PACKAGE(k4a QUIET)
        FIND_PACKAGE(k4arecord QUIET)
        IF(NOT (k4a_FOUND AND k4arecord_FOUND))
            SET(k4a_FOUND FALSE)
        ENDIF(NOT (k4a_FOUND AND k4arecord_FOUND))
    ENDIF()
    IF(k4a_FOUND)
       MESSAGE(STATUS "Found Kinect for Azure: ${k4a_INCLUDE_DIRS}")
    ENDIF(k4a_FOUND)
ENDIF(WITH_K4A)

# IF PCL depends on OpenNI2 (already found), ignore WITH_OPENNI2
IF(WITH_OPENNI2 OR OpenNI2_FOUND)
    FIND_PACKAGE(OpenNI2 QUIET)
    IF(OpenNI2_FOUND)
       MESSAGE(STATUS "Found OpenNI2: ${OpenNI2_INCLUDE_DIRS}")
    ENDIF(OpenNI2_FOUND)
ENDIF(WITH_OPENNI2 OR OpenNI2_FOUND)

IF(WITH_DC1394)
    FIND_PACKAGE(DC1394 QUIET)
    IF(DC1394_FOUND)
       MESSAGE(STATUS "Found DC1394: ${DC1394_INCLUDE_DIRS}")
    ENDIF(DC1394_FOUND)
ENDIF(WITH_DC1394)

IF(WITH_G2O)
    FIND_PACKAGE(g2o NO_MODULE)
    IF(g2o_FOUND)
        MESSAGE(STATUS "Found g2o (targets)")
        SET(G2O_FOUND ${g2o_FOUND})
        get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES)
        MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}")
        FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
            PATHS ${G2O_INCLUDES}
            NO_DEFAULT_PATH)
        FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
        STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
        IF(${matchres} EQUAL -1)
            MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
            SET(G2O_CPP11 2)
        ELSE()
            MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
            SET(G2O_CPP11 1)
        ENDIF()
        FIND_FILE(G2O_SBA_UTILS_FILE g2o/types/sba/sba_utils.h
            PATHS ${G2O_INCLUDES}
            NO_DEFAULT_PATH)
        IF(G2O_SBA_UTILS_FILE)
            SET(G2O_WITH_SBA_UTILS 1)
        ELSE()
            SET(G2O_WITH_SBA_UTILS 0)
        ENDIF()
    ELSE()
        FIND_PACKAGE(G2O QUIET)
        IF(G2O_FOUND)
            MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}")
        ENDIF(G2O_FOUND)
    ENDIF()
ENDIF(WITH_G2O)

IF(WITH_GTSAM)
    # Force config mode to ignore PCL's findGTSAM.cmake file
    FIND_PACKAGE(GTSAM CONFIG QUIET)
    IF(GTSAM_FOUND)
      # For issue https://github.com/introlab/rtabmap/pull/1626
      FIND_FILE(GTSAM_NOISE_MODEL_FACTOR_N_FILE gtsam/nonlinear/NoiseModelFactorN.h
         PATHS ${GTSAM_INCLUDE_DIR}
         NO_DEFAULT_PATH)
      IF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
         MESSAGE(STATUS "GTSAM with NoiseModelFactorN.h")
         ADD_DEFINITIONS("-DGTSAM_WITH_NOISE_MODEL_FACTOR_N")
      ENDIF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
    ENDIF(GTSAM_FOUND)
ENDIF(WITH_GTSAM)

IF(WITH_MRPT)
    FIND_PACKAGE(MRPT COMPONENTS poses QUIET)
    IF(MRPT_FOUND)
        message(STATUS "MRPT_VERSION: ${MRPT_VERSION}")
        message(STATUS "MRPT_LIBRARIES: ${MRPT_LIBRARIES}")
    ENDIF(MRPT_FOUND)
ENDIF(WITH_MRPT)

IF(WITH_FLYCAPTURE2)
    FIND_PACKAGE(FlyCapture2 QUIET)
    IF(FlyCapture2_FOUND)
       MESSAGE(STATUS "Found FlyCapture2: ${FlyCapture2_INCLUDE_DIRS}")
    ENDIF(FlyCapture2_FOUND)
ENDIF(WITH_FLYCAPTURE2)

IF(WITH_CVSBA)
    FIND_PACKAGE(cvsba)
    IF(cvsba_FOUND)
       MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}")
    ENDIF(cvsba_FOUND)
ENDIF(WITH_CVSBA)

IF(WITH_POINTMATCHER)
    find_package(libpointmatcher QUIET)
    IF(libpointmatcher_FOUND)
        MESSAGE(STATUS "Found libpointmatcher: ${libpointmatcher_INCLUDE_DIRS}")
        string(FIND "${libpointmatcher_LIBRARIES}" "libnabo" value)
        IF(value EQUAL -1)
            # Find libnabo (Issue #1117):
            find_package(libnabo REQUIRED PATHS ${LIBNABO_INSTALL_DIR})
            message(STATUS "libnabo found, version ${libnabo_VERSION} (Config mode)")
            SET(libpointmatcher_LIBRARIES "${libpointmatcher_LIBRARIES};libnabo::nabo")
        ENDIF(value EQUAL -1)
        string(FIND "${libpointmatcher_LIBRARIES}" "yaml-cpp::yaml-cpp" value)
        IF(NOT value EQUAL -1)
            # Find yaml-cpp (Issue #1268):
            find_package(yaml-cpp QUIET)
        ENDIF(NOT value EQUAL -1)
    ENDIF(libpointmatcher_FOUND)
ENDIF(WITH_POINTMATCHER)

IF(libpointmatcher_FOUND OR GTSAM_FOUND)
    find_package(Boost COMPONENTS thread filesystem program_options date_time REQUIRED)
    IF(Boost_MINOR_VERSION GREATER 80)
        find_package(Boost COMPONENTS thread filesystem program_options date_time chrono timer serialization REQUIRED)
    ELSEIF(Boost_MINOR_VERSION GREATER 47)
        find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer serialization REQUIRED)
    ELSE()
        find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED)
    ENDIF()
    IF(WIN32)
        MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}")
        link_directories(${Boost_LIBRARY_DIRS})
    ENDIF(WIN32)
ENDIF(libpointmatcher_FOUND OR GTSAM_FOUND)

IF(WITH_CCCORELIB)
    find_package(CCCoreLib)
    IF(CCCoreLib_FOUND)
       MESSAGE(STATUS "Found CCCoreLib: ${CCCoreLib_INCLUDE_DIRS}")
    ENDIF(CCCoreLib_FOUND)
ENDIF(WITH_CCCORELIB)

IF(WITH_OPEN3D)
    IF(${CMAKE_VERSION} VERSION_LESS "3.19.0") 
       MESSAGE(WARNING "Open3D requires CMake version >=3.19 (current is ${CMAKE_VERSION})")
    ELSE()
       # Build Open3D like this to avoid linker errors in rtabmap:
       # cmake -DBUILD_SHARED_LIBS=ON -DGLIBCXX_USE_CXX11_ABI=ON -DCMAKE_BUILD_TYPE=Release ..
       find_package(Open3D)
       IF(Open3D_FOUND)
          MESSAGE(STATUS "Found Open3D: ${Open3DINCLUDE_DIRS}")
       ENDIF(Open3D_FOUND)
    ENDIF()
ENDIF(WITH_OPEN3D)

IF(WITH_LOAM)
    find_package(loam_velodyne)
    IF(loam_velodyne_FOUND)
       MESSAGE(STATUS "Found loam_velodyne: ${loam_velodyne_INCLUDE_DIRS}")
    ENDIF(loam_velodyne_FOUND)
ENDIF(WITH_LOAM)

IF(WITH_FLOAM)
    find_package(floam)
    IF(floam_FOUND)
       MESSAGE(STATUS "Found floam: ${floam_INCLUDE_DIRS}")
       FIND_PACKAGE(Ceres REQUIRED)
    ENDIF(floam_FOUND)
ENDIF(WITH_FLOAM)
IF(WITH_LIOSAM)
    find_package(lio_sam QUIET)
    IF(lio_sam_FOUND)
       MESSAGE(STATUS "Found lio_sam: ${lio_sam_INCLUDE_DIRS}")
    ENDIF(lio_sam_FOUND)
ENDIF(WITH_LIOSAM)

SET(ZED_FOUND FALSE)
IF(WITH_ZED)
    find_package(ZED 2 QUIET)
    
    IF(ZED_FOUND)
       MESSAGE(STATUS "Found ZED sdk: ${ZED_INCLUDE_DIRS}")
       ## look for CUDA
       find_package(CUDA)
       IF(CUDA_FOUND)
        MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}")
       ELSE()
        MESSAGE(WARNING "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
		SET(ZED_FOUND FALSE)
       ENDIF()
    ENDIF(ZED_FOUND)
ENDIF(WITH_ZED)

IF(WITH_ZEDOC)
    find_package(ZEDOC QUIET)
    IF(ZEDOC_FOUND)
       MESSAGE(STATUS "Found ZED Open Capture: ${ZEDOC_INCLUDE_DIRS}")
       ## look for HIDAPI
       find_package(HIDAPI)
       IF(HIDAPI_FOUND)
          MESSAGE(STATUS "Found HIDAPI: ${HIDAPI_INCLUDE_DIRS}")
       ELSE()
          MESSAGE(FATAL_ERROR "HIDAPI is required to build with Zed Open Capture! Set -DWITH_ZEDOC=OFF if you don't have HIDAPI.")
       ENDIF()
    ENDIF(ZEDOC_FOUND)
ENDIF(WITH_ZEDOC)

IF(WITH_REALSENSE)
    IF(WITH_REALSENSE_SLAM)
       FIND_PACKAGE(RealSense QUIET COMPONENTS slam)
    ELSE()
       FIND_PACKAGE(RealSense QUIET)
    ENDIF()
    IF(RealSense_FOUND)
       MESSAGE(STATUS "Found RealSense: ${RealSense_INCLUDE_DIRS}")
    ENDIF(RealSense_FOUND)
    IF(RealSenseSlam_FOUND)
       MESSAGE(STATUS "Found RealSenseSlam: ${RealSense_INCLUDE_DIRS}")
    ENDIF(RealSenseSlam_FOUND)
ENDIF(WITH_REALSENSE)

IF(WITH_REALSENSE2)
    IF(WIN32)
        FIND_PACKAGE(RealSense2 QUIET)
    ELSE()
        FIND_PACKAGE(realsense2 QUIET)
    ENDIF()
    IF(realsense2_FOUND)
       MESSAGE(STATUS "Found RealSense2: ${realsense2_INCLUDE_DIRS}")
    ENDIF(realsense2_FOUND)
ENDIF(WITH_REALSENSE2)

IF(WITH_MYNTEYE)
    FIND_PACKAGE(mynteye QUIET)
    IF(mynteye_FOUND)
       MESSAGE(STATUS "Found mynteye-s: ${mynteye_INCLUDE_DIRS}")
    ENDIF(mynteye_FOUND)
ENDIF(WITH_MYNTEYE)

IF(WITH_DEPTHAI)
    # Force DepthAI major version 2 (>=2.24, <3.0): the v3 API is not yet
    # supported (see CameraDepthAI).
    FIND_PACKAGE(depthai 2.24...<3.0)
    IF(depthai_FOUND)
       MESSAGE(STATUS "Found depthai-core (targets)")
    ENDIF(depthai_FOUND)
ENDIF(WITH_DEPTHAI)

IF(WITH_XVSDK)
    FIND_PACKAGE(xvsdk)
    IF(xvsdk_FOUND)
       MESSAGE(STATUS "Found xvsdk (targets)")
    ENDIF(xvsdk_FOUND)
ENDIF(WITH_XVSDK)

IF(WITH_ORBBEC_SDK)
    FIND_PACKAGE(OrbbecSDK 2)
    IF(OrbbecSDK_FOUND)
       MESSAGE(STATUS "Found OrbbecSDK v2 (targets)")
    ENDIF(OrbbecSDK_FOUND)
ENDIF(WITH_ORBBEC_SDK)

IF(WITH_OCTOMAP)
    FIND_PACKAGE(octomap QUIET)
    IF(octomap_FOUND)
       MESSAGE(STATUS "Found octomap ${octomap_VERSION}: ${OCTOMAP_INCLUDE_DIRS}")
       IF(octomap_VERSION VERSION_LESS 1.8)
          ADD_DEFINITIONS("-DOCTOMAP_PRE_18")
       ENDIF(octomap_VERSION VERSION_LESS 1.8)
    ENDIF(octomap_FOUND)
ENDIF(WITH_OCTOMAP)

IF(WITH_GRIDMAP)
    FIND_PACKAGE(grid_map_core)
    IF(grid_map_core_FOUND)
       MESSAGE(STATUS "Found grid_map_core ${grid_map_core_VERSION}: ${grid_map_core_INCLUDE_DIRS}")
    ENDIF(grid_map_core_FOUND)
ENDIF(WITH_GRIDMAP)

IF(WITH_CPUTSDF)
    FIND_PACKAGE(CPUTSDF)
    IF(CPUTSDF_FOUND)
       MESSAGE(STATUS "Found CPUTSDF: ${CPUTSDF_INCLUDE_DIRS}")
    ENDIF(CPUTSDF_FOUND)
ENDIF(WITH_CPUTSDF)

IF(WITH_OPENCHISEL)
    find_package(open_chisel)
    if(open_chisel_FOUND)
        MESSAGE(STATUS "Found open_chisel: ${open_chisel_INCLUDE_DIRS}")
    endif(open_chisel_FOUND)
ENDIF(WITH_OPENCHISEL)

IF(WITH_ALICE_VISION)
    find_package(AliceVision CONFIG)
    IF(AliceVision_FOUND)
        IF(${AliceVision_VERSION} VERSION_LESS_EQUAL "2.2")
           find_package(Boost COMPONENTS log log_setup container REQUIRED)
        ENDIF(${AliceVision_VERSION} VERSION_LESS_EQUAL "2.2")
        SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/local/lib/cmake/modules")
        find_package(Geogram REQUIRED)
        find_package(assimp)
        add_definitions("-DRTABMAP_ALICE_VISION_MAJOR=${AliceVision_VERSION_MAJOR}")
        add_definitions("-DRTABMAP_ALICE_VISION_MINOR=${AliceVision_VERSION_MINOR}")
        add_definitions("-DRTABMAP_ALICE_VISION_PATCH=${AliceVision_VERSION_PATCH}")
    ENDIF(AliceVision_FOUND)
ENDIF(WITH_ALICE_VISION)

IF(WITH_FOVIS)
    FIND_PACKAGE(libfovis)
    IF(libfovis_FOUND)
       MESSAGE(STATUS "Found libfovis: ${libfovis_INCLUDE_DIRS}")
    ENDIF(libfovis_FOUND)
ENDIF(WITH_FOVIS)

IF(WITH_VISO2)
    FIND_PACKAGE(libviso2)
    IF(libviso2_FOUND)
       MESSAGE(STATUS "Found libviso2: ${libviso2_INCLUDE_DIRS}")
    ENDIF(libviso2_FOUND)
ENDIF(WITH_VISO2)

IF(WITH_DVO)
    FIND_PACKAGE(dvo_core)
    IF(dvo_core_FOUND)
       MESSAGE(STATUS "Found dvo_core: ${dvo_core_INCLUDE_DIRS}")
    ENDIF(dvo_core_FOUND)
ENDIF(WITH_DVO)

IF(WITH_OKVIS)
    FIND_PACKAGE(okvis 1.1)
    IF(okvis_FOUND)
       MESSAGE(STATUS "Found okvis: ${OKVIS_INCLUDE_DIRS}")
       find_package(brisk 2 REQUIRED)
       MESSAGE(STATUS "Found brisk: ${BRISK_INCLUDE_DIRS}")
       find_package(Ceres 1.9.0 REQUIRED EXACT) # OKVIS requires this specific version
       MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
    ENDIF(okvis_FOUND)
ENDIF(WITH_OKVIS)

# If built with okvis, we found already ceres above
IF(WITH_CERES)
  IF(NOT okvis_FOUND AND NOT floam_FOUND)
    FIND_PACKAGE(Ceres)
    MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
  ENDIF(NOT okvis_FOUND AND NOT floam_FOUND)
ELSEIF(Ceres_FOUND)
  MESSAGE(WARNING "WITH_CERES is OFF, but it still included by dependencies Okvis or FLOAM")
ENDIF()

IF(WITH_MSCKF_VIO)
    FIND_PACKAGE(msckf_vio)
    IF(msckf_vio_FOUND)
       MESSAGE(STATUS "Found msckf_vio: ${msckf_vio_INCLUDE_DIRS}")
    ENDIF(msckf_vio_FOUND)
ENDIF(WITH_MSCKF_VIO)

IF(WITH_VINS AND NOT WITH_VINS_FUSION)
message(DEPRECATION "The option WITH_VINS is deprecated and will be removed in a future version. Please use WITH_VINS_FUSION instead.")
set(WITH_VINS_FUSION ON)
ENDIF(WITH_VINS AND NOT WITH_VINS_FUSION)

IF(WITH_VINS_FUSION)
    FIND_PACKAGE(vins)
    IF(vins_FOUND)
       MESSAGE(STATUS "Found vins-fusion: ${vins_INCLUDE_DIRS}")
       IF(okvis_FOUND)
           MESSAGE(WARNING "VINS-Fusion and OKVIS will be both linked to project, make sure VINS-Fusion has been built with against same Ceres version than OKVIS to avoid some crashes.")
       ENDIF(okvis_FOUND)
    ENDIF(vins_FOUND)
ENDIF(WITH_VINS_FUSION)

IF(WITH_OPENVINS)
   FIND_PACKAGE(OpenVINS)
ENDIF(WITH_OPENVINS)

IF(WITH_FASTCV)
    FIND_PACKAGE(FastCV QUIET)
    IF(FastCV_FOUND)
       MESSAGE(STATUS "Found FastCV: ${FastCV_INCLUDE_DIRS}")
    ENDIF(FastCV_FOUND)
ENDIF(WITH_FASTCV)

IF(WITH_APRILTAG)
    FIND_PACKAGE(apriltag QUIET)
    IF(apriltag_FOUND)
      get_target_property(APRILTAG_LOCATION apriltag::apriltag LOCATION)
      get_target_property(APRILTAG_INCLUDES apriltag::apriltag INTERFACE_INCLUDE_DIRECTORIES)
      FIND_FILE(apriltag_aruco_4x4_50_header NAMES tagAruco4x4_50.h PATH_SUFFIXES aruco PATHS ${APRILTAG_INCLUDES} NO_DEFAULT_PATH)
      SET(WITH_APRILTAG_ARUCO NO)
      IF(apriltag_aruco_4x4_50_header)
         SET(WITH_APRILTAG_ARUCO YES)
      ENDIF()
      MESSAGE(STATUS "Found apriltag (with aruco=${WITH_APRILTAG_ARUCO}): ${APRILTAG_LOCATION} ${APRILTAG_INCLUDES}")
    ENDIF(apriltag_FOUND)
ENDIF(WITH_APRILTAG)

IF(WITH_OPENGV OR okvis_FOUND)
   if(NOT BUILD_OPENGV)
      FIND_PACKAGE(opengv QUIET)
   endif()

   if(opengv_FOUND)
      MESSAGE(STATUS "Found system-installed OpenGV: ${opengv_INCLUDE_DIRS}")
   elseif(BUILD_OPENGV)
      SET(PCL_USING_MARCHNATIVE OFF)
      if(PCL_COMPILE_OPTIONS)
         if("${PCL_COMPILE_OPTIONS}" MATCHES "-march=native")
            set(PCL_USING_MARCHNATIVE ON)
         endif()
      elseif("${PCL_DEFINITIONS}" MATCHES "-march=native")
         set(PCL_USING_MARCHNATIVE ON)
      endif()
      SET(MSG_EXTRA "without -march-native (not used by PCL)")
      if(PCL_USING_MARCHNATIVE)
         set(MSG_EXTRA "with -march-native (used by PCL)")
      endif()
   
      message(STATUS "Download/Build OpenGV internally (BUILD_OPENGV=ON) ${MSG_EXTRA}.")     
      function(add_submodule_opengv)
         FetchContent_Declare(
            opengv
            GIT_REPOSITORY https://github.com/laurentkneip/opengv.git
            GIT_TAG        91f4b19c73450833a40e463ad3648aae80b3a7f3
            PATCH_COMMAND ${CMAKE_COMMAND} 
                  -DPATCH_FILE=${CMAKE_CURRENT_LIST_DIR}/patches/opengv_91f4b19c.patch
                  -P ${CMAKE_CURRENT_LIST_DIR}/patches/apply_patch.cmake
         )
         set(BUILD_SHARED_LIBS OFF)
         set(BUILD_TESTS OFF)
         set(CMAKE_BUILD_TYPE Release)
         set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
         # OpenGV's CMakeLists.txt declares cmake_minimum_required(VERSION 2.x),
         # which CMake >= 4.0 (e.g. recent Ubuntu) rejects. Allow it to configure.
         set(CMAKE_POLICY_VERSION_MINIMUM 3.5)
         # Eigen should have been already added by PCL, just populate the compatible variables
         IF(EIGEN_INCLUDE_DIRS)
            set(EIGEN_INCLUDE_DIRS "${EIGEN_INCLUDE_DIRS}" CACHE PATH "Eigen include dirs" FORCE)
            set(EIGEN_INCLUDE_DIR "${EIGEN_INCLUDE_DIRS}" CACHE PATH "Eigen include dir" FORCE)
         ELSEIF(Eigen3_INCLUDE_DIRS)
            set(EIGEN_INCLUDE_DIRS "${Eigen3_INCLUDE_DIRS}" CACHE PATH "Eigen include dirs" FORCE)
            set(EIGEN_INCLUDE_DIR "${Eigen3_INCLUDE_DIRS}" CACHE PATH "Eigen include dir" FORCE)
         ENDIF()
         set(BUILD_WITH_MARCHNATIVE ${PCL_USING_MARCHNATIVE})
         FetchContent_MakeAvailable(opengv)
      endfunction()

      add_submodule_opengv()
      set(opengv_FOUND TRUE)
      set(opengv_VERSION "internal")
   endif()
ENDIF()

IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
    FIND_PACKAGE(ORB_SLAM)
    IF(ORB_SLAM_FOUND)
       MESSAGE(STATUS "Found ORB_SLAM${ORB_SLAM_VERSION}: ${ORB_SLAM_INCLUDE_DIRS}")
    ENDIF(ORB_SLAM_FOUND)
ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)

IF(WITH_CUVSLAM)
    FIND_PACKAGE(CuVSLAM 14.0.0)
    IF(CUVSLAM_FOUND)
        MESSAGE(STATUS "Found cuVSLAM: ${CUVSLAM_INCLUDE_DIRS}")
    ENDIF()
ENDIF(WITH_CUVSLAM)

SET(DISABLE_NEW_DTAGS_FLAG "--disable-new-dtags")
IF(NOT (APPLE OR WIN32) AND BUILD_WITH_RPATH_NOT_RUNPATH)
    ADD_LINK_OPTIONS(LINKER:${DISABLE_NEW_DTAGS_FLAG})
ENDIF()

IF(NOT MSVC)
    IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR (GTSAM_FOUND AND GTSAM_VERSION VERSION_GREATER_EQUAL "4.3.0") OR TORCH_FOUND OR MRPT_FOUND)
      # Qt6 requires c++17
      include(CheckCXXCompilerFlag)
      CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
      IF(COMPILER_SUPPORTS_CXX17)
        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
        set(CMAKE_CXX_STANDARD 17)
      ELSE()
        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler if you want to use Qt6.")
      ENDIF()
    ENDIF()
    IF((NOT (${CMAKE_CXX_STANDARD} STREQUAL "17")) AND (msckf_vio_FOUND OR loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND))
     #MSCKF_VIO, LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14
     include(CheckCXXCompilerFlag)
      CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
      IF(COMPILER_SUPPORTS_CXX14)
        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
        set(CMAKE_CXX_STANDARD 14)
      ELSE()
        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.")
      ENDIF()
    ENDIF()

    IF(NOT ("${CMAKE_CXX_STANDARD}" STREQUAL "17") AND NOT ("${CMAKE_CXX_STANDARD}" STREQUAL "14"))
     #Newest versions require std11
     include(CheckCXXCompilerFlag)
      CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
      CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
      IF(COMPILER_SUPPORTS_CXX11)
        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
      ELSEIF(COMPILER_SUPPORTS_CXX0X)
        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
      ELSE()
        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
      ENDIF()
    ENDIF()
ENDIF()


####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
IF(APPLE AND BUILD_AS_BUNDLE)
  IF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
       
    # Required when packaging, and set CMAKE_INSTALL_PREFIX to "/".
    SET(CMAKE_INSTALL_PREFIX "/")
    SET(CPACK_SET_DESTDIR TRUE) 
    
    SET(CMAKE_BUNDLE_NAME "${PROJECT_NAME}")
    SET(CMAKE_BUNDLE_LOCATION "${CMAKE_INSTALL_PREFIX}")
    
    # make sure CMAKE_INSTALL_PREFIX ends in /
    STRING(LENGTH "${CMAKE_INSTALL_PREFIX}" LEN)
    MATH(EXPR LEN "${LEN} -1" )
    STRING(SUBSTRING "${CMAKE_INSTALL_PREFIX}" ${LEN} 1 ENDCH)
    IF(NOT "${ENDCH}" STREQUAL "/")
      SET(CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}/")
    ENDIF(NOT "${ENDCH}" STREQUAL "/")
    SET(CMAKE_INSTALL_PREFIX 
      "${CMAKE_INSTALL_PREFIX}${CMAKE_BUNDLE_NAME}.app/Contents")
  ELSE()
    
    #If Qt is not here, no need to build a bundle
    SET(BUILD_AS_BUNDLE OFF)
  ENDIF()
ENDIF(APPLE AND BUILD_AS_BUNDLE)


####### SOURCES (Projects) #######

# OpenCV2 has nonfree if OPENCV_NONFREE_FOUND
# OpenCV<=3.4.2 has nonfree if OPENCV_XFEATURES2D_FOUND
# OpenCV>3.4.2 has nonfree if OPENCV_XFEATURES2D_FOUND and OPENCV_ENABLE_NONFREE is defined
IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
   SET(NONFREE "//")
ELSEIF(OpenCV_VERSION VERSION_GREATER "3.4.2")
  FIND_FILE(OpenCV_MODULES_HPP opencv2/opencv_modules.hpp 
    PATHS ${OpenCV_INCLUDE_DIRS}
    NO_DEFAULT_PATH)
  FILE(READ ${OpenCV_MODULES_HPP} TMPTXT)
  STRING(FIND "${TMPTXT}" "#define OPENCV_ENABLE_NONFREE" matchres)
  IF(${matchres} EQUAL -1)
    SET(NONFREE "//")
  ENDIF(${matchres} EQUAL -1)
ENDIF()

IF(NOT G2O_FOUND)
   SET(G2O "//")
   SET(G2O_CPP_CONF "//")
   SET(G2O_WITH_SBA_UTILS "//")
ELSE()
   IF(NOT G2O_CPP11)
     SET(G2O_CPP_CONF "//")
   ENDIF(NOT G2O_CPP11)
   IF(NOT G2O_WITH_SBA_UTILS)
     SET(G2O_WITH_SBA_UTILS_CONF "//")
   ENDIF(NOT G2O_WITH_SBA_UTILS)
ENDIF()
IF(NOT GTSAM_FOUND)
   SET(GTSAM "//")
ENDIF()
IF(NOT MRPT_FOUND)
   SET(MRPT "//")
ENDIF(NOT MRPT_FOUND)
IF(NOT WITH_CERES OR NOT CERES_FOUND)
   SET(CERES "//")
ENDIF(NOT WITH_CERES OR NOT CERES_FOUND)
IF(NOT WITH_TORO)
   SET(TORO "//")
ENDIF(NOT WITH_TORO)
IF(NOT WITH_VERTIGO)
   SET(VERTIGO "//")
ENDIF(NOT WITH_VERTIGO)
IF(NOT cvsba_FOUND)
   SET(CVSBA "//")
ENDIF()
IF(NOT libpointmatcher_FOUND)
   SET(POINTMATCHER "//")
ENDIF(NOT libpointmatcher_FOUND)
IF(NOT CCCoreLib_FOUND)
   SET(CCCORELIB "//")
ENDIF(NOT CCCoreLib_FOUND)
IF(NOT Open3D_FOUND)
   SET(OPEN3D "//")
ENDIF(NOT Open3D_FOUND)
IF(NOT FastCV_FOUND)
   SET(FASTCV "//")
ENDIF(NOT FastCV_FOUND)
IF(NOT apriltag_FOUND)
   SET(APRILTAG "//")
   SET(APRILTAG_ARUCO "//")
ELSEIF(NOT WITH_APRILTAG_ARUCO)
   SET(APRILTAG_ARUCO "//")
ENDIF()
IF(NOT opengv_FOUND OR NOT WITH_OPENGV)
   SET(OPENGV "//")
ENDIF(NOT opengv_FOUND OR NOT WITH_OPENGV)
IF(NOT PDAL_FOUND)
   SET(PDAL "//")
ENDIF(NOT PDAL_FOUND)
IF(NOT libLAS_FOUND)
   SET(LIBLAS "//")
ENDIF(NOT libLAS_FOUND)
IF(NOT CudaSift_FOUND)
   SET(CUDASIFT "//")
ENDIF(NOT CudaSift_FOUND)
IF(NOT loam_velodyne_FOUND)
   SET(LOAM "//")
ENDIF(NOT loam_velodyne_FOUND)
IF(NOT floam_FOUND)
   SET(FLOAM "//")
ENDIF(NOT floam_FOUND)
IF(NOT lio_sam_FOUND)
   SET(LIOSAM "//")
ENDIF(NOT lio_sam_FOUND)
IF(NOT Freenect_FOUND)
   SET(FREENECT "//")
ENDIF()
IF(NOT freenect2_FOUND)
   SET(FREENECT2 "//")
ENDIF()
IF(NOT KinectSDK2_FOUND)
   SET(K4W2 "//")
ENDIF()
IF(NOT k4a_FOUND)
   SET(K4A "//")
   SET(CONF_WITH_K4A 0)
ELSE()
   SET(CONF_WITH_K4A 1)
   IF(WIN32)
      install(
         FILES
         "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/FindK4A.cmake"
         DESTINATION ${INSTALL_CMAKE_DIR}/Modules/.
         COMPONENT devel
      )
   ENDIF(WIN32)
ENDIF()
IF(NOT (OpenNI_FOUND AND WITH_OPENNI))
   SET(OPENNI "//")
ENDIF()
IF(NOT OpenNI2_FOUND)
   SET(OPENNI2 "//")
ENDIF()
IF(NOT DC1394_FOUND)
   SET(DC1394 "//")
ENDIF()
IF(NOT FlyCapture2_FOUND)
   SET(FLYCAPTURE2 "//")
ENDIF()
IF(NOT ZED_FOUND)
   SET(ZED "//")
ENDIF()
IF(NOT ZEDOC_FOUND)
   SET(ZEDOC "//")
ENDIF()
IF(NOT RealSense_FOUND)
   SET(REALSENSE "//")
ENDIF()
IF(NOT RealSenseSlam_FOUND)
   SET(REALSENSESLAM "//")
ENDIF(NOT RealSenseSlam_FOUND)
IF(NOT realsense2_FOUND)
   SET(REALSENSE2 "//")
   SET(CONF_WITH_REALSENSE2 0)
ELSE()
   SET(CONF_WITH_REALSENSE2 1)
   IF(WIN32)
      install(
         FILES
         "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/FindRealSense2.cmake"
         DESTINATION ${INSTALL_CMAKE_DIR}/Modules/.
         COMPONENT devel
      )
   ENDIF(WIN32)
ENDIF()
IF(NOT mynteye_FOUND)
   SET(MYNTEYE "//")
ENDIF(NOT mynteye_FOUND)
IF(NOT depthai_FOUND)
   SET(CONF_WITH_DEPTH_AI 0)
   SET(DEPTHAI "//")
ELSE()
   SET(CONF_WITH_DEPTH_AI 1)
ENDIF()
IF(NOT xvsdk_FOUND)
   SET(XVSDK "//")
   SET(CONF_WITH_XVSDK 0)
ELSE()
   SET(CONF_WITH_XVSDK 1)
ENDIF()
IF(NOT OrbbecSDK_FOUND)
   SET(ORBBEC_SDK "//")
ENDIF(NOT OrbbecSDK_FOUND)
IF(NOT octomap_FOUND)
   SET(OCTOMAP "//")
   SET(CONF_WITH_OCTOMAP 0)
ELSE()
   SET(CONF_WITH_OCTOMAP 1)
ENDIF()
IF(NOT grid_map_core_FOUND)
   SET(GRIDMAP "//")
ENDIF()
IF(NOT CPUTSDF_FOUND)
   SET(CPUTSDF "//")
ENDIF()
IF(NOT open_chisel_FOUND)
   SET(OPENCHISEL "//")
ENDIF()
IF(NOT AliceVision_FOUND)
   SET(ALICE_VISION "//")
ENDIF(NOT AliceVision_FOUND)
IF(NOT libfovis_FOUND)
   SET(FOVIS "//")
ENDIF()
IF(NOT libviso2_FOUND)
   SET(VISO2 "//")
ENDIF()
IF(NOT dvo_core_FOUND)
   SET(DVO "//")
ENDIF()
IF(NOT okvis_FOUND)
   SET(OKVIS "//")
ENDIF()
IF(NOT msckf_vio_FOUND)
   SET(MSCKF_VIO "//")
ENDIF()
IF(NOT vins_FOUND)
   SET(VINSFUSION "//")
ENDIF()
IF(NOT OpenVINS_FOUND)
   SET(OPENVINS "//")
ENDIF()
IF(NOT CUVSLAM_FOUND)
   SET(CUVSLAM "//")
ENDIF()
IF(NOT ORB_SLAM_FOUND)
   SET(ORB_SLAM "//")
ENDIF()
IF(NOT WITH_ORB_OCTREE)
   SET(ORB_OCTREE "//")
ENDIF()
IF(NOT TORCH_FOUND)
   SET(TORCH "//")
ENDIF()
IF(NOT WITH_PYTHON OR NOT Python3_FOUND)
   SET(PYTHON "//")
   SET(CONF_WITH_PYTHON 0)
ELSE()
   SET(CONF_WITH_PYTHON 1)
ENDIF()
IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
   SET(CONF_VTK_QT true)
ELSE()
   SET(CONF_VTK_QT false)
ENDIF()
IF(NOT WITH_MADGWICK)
   SET(MADGWICK "//")
ENDIF()

CONFIGURE_FILE(Version.h.in ${CMAKE_CURRENT_BINARY_DIR}/corelib/src/include/${PROJECT_PREFIX}/core/Version.h)

# API documentation (Doxygen). Off by default: preparing it downloads the theme,
# spawns Doxygen to regenerate the HTML header and runs the parameter-page
# generator, none of which an ordinary build needs. docs-report.sh turns it on;
# see also .github/workflows/docs.yml.
IF(BUILD_DOCUMENTATION)
   INCLUDE(RTABMapDocumentation)
   RTABMAP_SETUP_DOCUMENTATION()
ENDIF(BUILD_DOCUMENTATION)

ADD_SUBDIRECTORY( utilite )
ADD_SUBDIRECTORY( corelib )

IF(ANDROID)
   IF(BUILD_APP)
      ADD_SUBDIRECTORY( app )
   ENDIF(BUILD_APP)
ELSEIF(WITH_QT)
   IF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
      ADD_SUBDIRECTORY( guilib )
      IF(BUILD_APP)
         ADD_SUBDIRECTORY( app )
      ENDIF(BUILD_APP)
   ELSE()
      MESSAGE(WARNING "Qt not found, the GUI lib and the stand-alone application will not be compiled...")
   ENDIF()
ENDIF()

IF(BUILD_TOOLS)
   ADD_SUBDIRECTORY( tools )
ENDIF(BUILD_TOOLS)
IF(BUILD_EXAMPLES)
   ADD_SUBDIRECTORY( examples )
ENDIF(BUILD_EXAMPLES)

#######################
# Uninstall target, for "make uninstall"
#######################
IF (NOT TARGET uninstall)
CONFIGURE_FILE(
  "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
  "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
  IMMEDIATE @ONLY)

ADD_CUSTOM_TARGET(uninstall
  "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
ENDIF()

####
# Global Export Target
####
add_library(rtabmap INTERFACE)
add_library(rtabmap::rtabmap ALIAS rtabmap)
IF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
   set(CONF_WITH_GUI ON)
   IF(QT4_FOUND)
      set(CONF_QT_VERSION 4)
   ELSEIF(Qt5_FOUND)
      set(CONF_QT_VERSION 5)
   ELSE()
      set(CONF_QT_VERSION 6)
   ENDIF()
   target_link_libraries(rtabmap INTERFACE rtabmap_utilite rtabmap_core rtabmap_gui)
ELSE()
   set(CONF_WITH_GUI OFF)
   target_link_libraries(rtabmap INTERFACE rtabmap_utilite rtabmap_core)
ENDIF()
install(TARGETS rtabmap EXPORT rtabmapTargets)
export(EXPORT rtabmapTargets
  FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Targets.cmake"
  NAMESPACE rtabmap::
)
install(EXPORT rtabmapTargets
  FILE
    ${PROJECT_NAME}Targets.cmake
  DESTINATION
    ${INSTALL_CMAKE_DIR}
  NAMESPACE rtabmap::
  COMPONENT
    devel
)

####
# Setup RTABMapConfig.cmake
####
IF(OpenCV_VERSION_MAJOR GREATER 4)
  SET(CONF_OPENCV_COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5})
  SET(CONF_OPENCV_OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5})
ELSE()
  SET(CONF_OPENCV_COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4})
  SET(CONF_OPENCV_OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4})
ENDIF()
STRING(REPLACE ";" " " CONF_OPENCV_COMPONENTS "${CONF_OPENCV_COMPONENTS}")
STRING(REPLACE ";" " " CONF_OPENCV_OPTIONAL_COMPONENTS "${CONF_OPENCV_OPTIONAL_COMPONENTS}")
# Pin the OpenCV major version so downstream projects find the same major RTAB-Map was
# built against
SET(CONF_OPENCV_VERSION_MAJOR ${OpenCV_VERSION_MAJOR})
include(CMakePackageConfigHelpers)
write_basic_package_version_file(
  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
  VERSION ${PROJECT_VERSION}
  COMPATIBILITY AnyNewerVersion
)

# Build tree:
SET(CONF_MODULES_DIR "../cmake_modules")
configure_file(
  ${PROJECT_NAME}Config.cmake.in
  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
  @ONLY
)

# Install tree:
SET(CONF_MODULES_DIR "Modules")
configure_file(
  ${PROJECT_NAME}Config.cmake.in
  "${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/${PROJECT_NAME}Config.cmake"
  @ONLY
)
install(
  FILES
    "${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/${PROJECT_NAME}Config.cmake"
    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
  DESTINATION
    ${INSTALL_CMAKE_DIR}
  COMPONENT
    devel
)
  
####

### Install package.xml for catkin
install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_PREFIX}" COMPONENT devel)

#######################
# CPACK (Packaging)
#######################
IF(BUILD_AS_BUNDLE)
  SET(CMAKE_INSTALL_SYSTEM_RUNTIME_COMPONENT runtime)
  IF(WIN32)
    set(CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP TRUE)
	set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS "
      ExecWait '\\\"$INSTDIR\\\\vc_redist.x64.exe\\\" /quiet /norestart'
    ")
  ENDIF()
  INCLUDE(InstallRequiredSystemLibraries)
  set(CPACK_NSIS_COMPONENT_INSTALL OFF)
  set(CPACK_ARCHIVE_COMPONENT_INSTALL ON)
  set(CPACK_COMPONENTS_GROUPING ALL_COMPONENTS_IN_ONE)
  set(CPACK_COMPONENTS_ALL runtime)
ENDIF(BUILD_AS_BUNDLE)

SET(CPACK_PACKAGE_NAME "${PROJECT_NAME}")
SET(CPACK_PACKAGE_VENDOR "${PROJECT_NAME} project")
SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "RTAB-MAP is a Real-Time Appearance-Based Mapping approach.")
#SET(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/Description.txt")
#SET(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/README.txt")
SET(CPACK_PACKAGE_VERSION_MAJOR "${PROJECT_VERSION_MAJOR}")
SET(CPACK_PACKAGE_VERSION_MINOR "${PROJECT_VERSION_MINOR}")
SET(CPACK_PACKAGE_VERSION_PATCH "${PROJECT_VERSION_PATCH}")
#SET(CPACK_PACKAGE_INSTALL_DIRECTORY "${PROJECT_NAME}${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}")
#SET(CPACK_PACKAGE_EXECUTABLES "")
#SET(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
SET(CPACK_PACKAGE_CONTACT "matlabbe@gmail.com")


set(CPACK_SOURCE_IGNORE_FILES 
  "\\\\.svn/" 
  "\\\\.settings/" 
  "${PROJECT_SOURCE_DIR}/build/[a-zA-Z0-9_]+" 
  "~$" 
  "${PROJECT_SOURCE_DIR}/bin/.*${PROJECT_PREFIX}"
  "${PROJECT_SOURCE_DIR}/bin/.*${PROJECT_NAME}"
  "${PROJECT_SOURCE_DIR}/bin/.*[tT]est"
  "${PROJECT_SOURCE_DIR}/bin/.*[eE]xample"
  "${PROJECT_SOURCE_DIR}/bin/.*uresourcegenerator"
  "\\\\.DS_Store"
)

IF(WIN32)
  SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/LICENSE")
  IF(CMAKE_CL_64) 
    SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES64") 
  ELSE() 
    SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES") 
  ENDIF()
  IF(BUILD_AS_BUNDLE)
    SET(CPACK_GENERATOR "ZIP;NSIS")
  ELSE()
    SET(CPACK_GENERATOR "ZIP")
  ENDIF()
  SET(CPACK_SOURCE_GENERATOR "ZIP")
  SET(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME}")
  SET(ICON_PATH "${PROJECT_SOURCE_DIR}/app/src/${PROJECT_NAME}.ico")
  SET(CPACK_NSIS_MUI_ICON ${ICON_PATH})
  SET(CPACK_NSIS_MUI_UNIICON ${ICON_PATH})
  SET(CPACK_PACKAGE_INSTALL_DIRECTORY "${PROJECT_NAME}")
  #SET(CPACK_PACKAGE_ICON ${ICON_PATH})
  #SET(CPACK_NSIS_INSTALLED_ICON_NAME ${ICON_PATH})
  #SET(CPACK_NSIS_HELP_LINK "http:\\\\\\\\www.${PROJECT_PREFIX}.googlecode.com")
  #SET(CPACK_NSIS_URL_INFO_ABOUT "http:\\\\\\\\www.${PROJECT_PREFIX}.googlecode.com")
  SET(CPACK_NSIS_DISPLAY_NAME "${PROJECT_NAME}")
  SET(CPACK_NSIS_CONTACT ${CPACK_PACKAGE_CONTACT})
  # Set the icon used for the Windows "Add or Remove Programs" tool.
  SET(CPACK_NSIS_INSTALLED_ICON_NAME bin\\\\${PROJECT_NAME}.exe)
  # Desktop link ("executableName" "linkName")
  SET(CPACK_PACKAGE_EXECUTABLES "${PROJECT_NAME}" "${PROJECT_NAME}" ${CPACK_PACKAGE_EXECUTABLES}) 
  SET(CPACK_CREATE_DESKTOP_LINKS "${PROJECT_NAME}" ${CPACK_CREATE_DESKTOP_LINKS}) 
  SET(CPACK_NSIS_MODIFY_PATH ON)
  
ELSEIF(APPLE)
  # The project is created as a bundle over the main app (see ./app/src).
  # Here we package only this bundle. Note that we set 
  # CMAKE_INSTALL_PREFIX to "/" when packaging...
  IF(BUILD_AS_BUNDLE)
    SET(CPACK_GENERATOR "DragNDrop")
  ELSE()
    SET(CPACK_GENERATOR "PackageMaker;TBZ2")
  ENDIF()
  
  SET(CPACK_SOURCE_GENERATOR "ZIP")

  SET(CPACK_PACKAGE_ICON "${PROJECT_SOURCE_DIR}/app/src/${PROJECT_NAME}.icns")

ELSE()
  SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/LICENSE")
  SET(CPACK_GENERATOR "TBZ2")
  SET(CPACK_SOURCE_GENERATOR "ZIP")
ENDIF()

INCLUDE(CPack)

MESSAGE(STATUS "--------------------------------------------")
MESSAGE(STATUS "Info :")
MESSAGE(STATUS "  RTAB-Map Version =     ${RTABMAP_VERSION}")
MESSAGE(STATUS "  CMAKE_VERSION =        ${CMAKE_VERSION}")
MESSAGE(STATUS "  CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}")
MESSAGE(STATUS "  CMAKE_BUILD_TYPE =     ${CMAKE_BUILD_TYPE}")
MESSAGE(STATUS "  CMAKE_INSTALL_LIBDIR = ${CMAKE_INSTALL_LIBDIR}")
MESSAGE(STATUS "  BUILD_APP =            ${BUILD_APP}")
MESSAGE(STATUS "  BUILD_TOOLS =          ${BUILD_TOOLS}")
MESSAGE(STATUS "  BUILD_EXAMPLES =       ${BUILD_EXAMPLES}")
MESSAGE(STATUS "  BUILD_TESTING =        ${BUILD_TESTING}")
MESSAGE(STATUS "  BUILD_PERF_TESTS =     ${BUILD_PERF_TESTS}")
MESSAGE(STATUS "  ENABLE_COVERAGE =      ${ENABLE_COVERAGE}")
MESSAGE(STATUS "  ENABLE_FORMAT_ERRORS = ${ENABLE_FORMAT_ERRORS}")
IF(NOT WIN32)
    # see comment above for the BUILD_SHARED_LIBS option on Windows
    MESSAGE(STATUS "  BUILD_SHARED_LIBS =    ${BUILD_SHARED_LIBS}")
ENDIF(NOT WIN32)
IF(APPLE OR WIN32)
MESSAGE(STATUS "  BUILD_AS_BUNDLE =      ${BUILD_AS_BUNDLE}")
ENDIF(APPLE OR WIN32)
MESSAGE(STATUS "  CMAKE_CXX_FLAGS = ${CMAKE_CXX_FLAGS}")
IF(NOT (APPLE OR WIN32) AND BUILD_WITH_RPATH_NOT_RUNPATH)
MESSAGE(STATUS "  LINKER FLAGS =    ${DISABLE_NEW_DTAGS_FLAG}")
ENDIF()
MESSAGE(STATUS "  FLANN_KDTREE_MEM_OPT = ${FLANN_KDTREE_MEM_OPT}")
MESSAGE(STATUS "  PCL_DEFINITIONS = ${PCL_DEFINITIONS}")
MESSAGE(STATUS "  PCL_VERSION = ${PCL_VERSION}")
IF(PCL_COMPILE_OPTIONS)
MESSAGE(STATUS "  PCL_COMPILE_OPTIONS = ${PCL_COMPILE_OPTIONS}")
ENDIF(PCL_COMPILE_OPTIONS)

MESSAGE(STATUS "")
MESSAGE(STATUS "Optional dependencies ('*' affects some default parameters) :")
IF(OpenCV_FOUND)
  IF((OpenCV_VERSION_MAJOR LESS 4 AND OPENCV_ARUCO_FOUND) OR 
     (OpenCV_VERSION_MAJOR GREATER 4 AND OPENCV_OBJDETECT_FOUND))
    set(ARUCO_STR "YES")
  ELSE()
    set(ARUCO_STR "NO")
  ENDIF()
  IF(OpenCV_VERSION_MAJOR EQUAL 2)
    IF(OPENCV_NONFREE_FOUND)
      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = YES, aruco = ${ARUCO_STR} (License: Non commercial)")
    ELSE()
      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = NO, aruco = ${ARUCO_STR} (not found, License: BSD)")
    ENDIF()
  ELSE()
    IF(OPENCV_XFEATURES2D_FOUND)
      IF(NONFREE STREQUAL "//")
        IF((OpenCV_VERSION_MAJOR LESS 4) OR ((OpenCV_VERSION_MAJOR EQUAL 4) AND (OpenCV_VERSION_MINOR LESS 5)))
          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO, aruco = ${ARUCO_STR} (License: BSD)")
        ELSE()
          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO, aruco = ${ARUCO_STR} (License: Apache 2)")
        ENDIF()
      ELSE()
        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = YES, aruco = ${ARUCO_STR} (License: Non commercial)")
      ENDIF()
    ELSE()
      IF((OpenCV_VERSION_MAJOR LESS 4) OR ((OpenCV_VERSION_MAJOR EQUAL 4) AND (OpenCV_VERSION_MINOR LESS 5)))
        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO, aruco = ${ARUCO_STR} (License: BSD)")
      ELSE()
        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO, aruco = ${ARUCO_STR} (License: Apache 2)")
      ENDIF()
    ENDIF()
  ENDIF()
ENDIF(OpenCV_FOUND)

IF(WITH_QT AND QT4_FOUND)
MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")
ELSEIF(WITH_QT AND Qt5_FOUND)
MESSAGE(STATUS "  With Qt ${Qt5_VERSION}            = YES (License: Open Source or Commercial)")
MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")
ELSEIF(WITH_QT AND Qt6_FOUND)
MESSAGE(STATUS "  With Qt ${Qt6_VERSION}            = YES (License: Open Source or Commercial)")
MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")

ELSEIF(NOT WITH_QT)
MESSAGE(STATUS "  With Qt                   = NO (WITH_QT=OFF)")
ELSE()
MESSAGE(STATUS "  With Qt                   = NO (Qt not found)")
ENDIF()

IF(SQLite3_FOUND)
MESSAGE(STATUS "  With external SQLite3     = YES (License: Public Domain)")
ELSE()
MESSAGE(STATUS "  With external SQLite3     = NO (SQLite3 not found, internal version is used for convenience)")
ENDIF()

IF(WITH_ORB_OCTREE)
MESSAGE(STATUS "  With ORB OcTree           = YES (License: GPLv3)")
ELSE()
MESSAGE(STATUS "  With ORB OcTree           = NO (WITH_ORB_OCTREE=OFF)")
ENDIF()

IF(TORCH_FOUND)
MESSAGE(STATUS "  With SuperPoint           = YES (License: GPLv3) libtorch=${Torch_VERSION}")
ELSEIF(NOT WITH_TORCH)
MESSAGE(STATUS "  With SuperPoint           = NO (WITH_TORCH=OFF)")
ELSE()
MESSAGE(STATUS "  With SuperPoint           = NO (libtorch not found)")
ENDIF()

IF(TORCH_FOUND AND WITH_PYTHON AND Python3_FOUND)
MESSAGE(STATUS "  With Superpoint Rpautrat  = YES (Liscense: MIT) libtorch=${Torch_VERSION}")
ELSEIF(NOT WITH_TORCH)
MESSAGE(STATUS "  With Superpoint Rpautrat  = NO (WITH_TORCH=OFF)")
ELSEIF(NOT WITH_PYTHON)
MESSAGE(STATUS "  With Superpoint Rpautrat  = NO (WITH_PYTHON=OFF)")
ELSE()
MESSAGE(STATUS "  Wtih Superpoint Rpautrat  = NO (libtorch and/or python3 not found)")
ENDIF()


IF(WITH_PYTHON AND Python3_FOUND)
MESSAGE(STATUS "  With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}           = YES (License: PSF)")
ELSEIF(NOT WITH_PYTHON)
MESSAGE(STATUS "  With Python3              = NO (WITH_PYTHON=OFF)")
ELSE()
MESSAGE(STATUS "  With Python3              = NO (python not found)")
ENDIF()

IF(WITH_MADGWICK)
MESSAGE(STATUS "  With Madgwick             = YES (License: GPL)")
ELSE()
MESSAGE(STATUS "  With Madgwick             = NO (WITH_MADGWICK=OFF)")
ENDIF()

IF(FastCV_FOUND)
MESSAGE(STATUS "  With FastCV               = YES (License: Apache v2)")
ELSEIF(NOT WITH_FASTCV)
MESSAGE(STATUS "  With FastCV               = NO (WITH_FASTCV=OFF)")
ELSE()
MESSAGE(STATUS "  With FastCV               = NO (FastCV not found)")
ENDIF()

IF(apriltag_FOUND)
MESSAGE(STATUS "  With AprilTag ${apriltag_VERSION}       = YES (aruco=${WITH_APRILTAG_ARUCO}) (License: BSD 2-Clause License)")
ELSEIF(NOT WITH_APRILTAG)
MESSAGE(STATUS "  With AprilTag             = NO (WITH_APRILTAG=OFF)")
ELSE()
MESSAGE(STATUS "  With AprilTag             = NO (apriltag not found)")
ENDIF()

IF(PDAL_FOUND)
MESSAGE(STATUS "  With PDAL ${PDAL_VERSION}           = YES (License: BSD)")
ELSEIF(NOT WITH_PDAL)
MESSAGE(STATUS "  With PDAL                 = NO (WITH_PDAL=OFF)")
ELSE()
MESSAGE(STATUS "  With PDAL                 = NO (PDAL not found)")
ENDIF()

IF(libLAS_FOUND)
MESSAGE(STATUS "  With libLAS ${libLAS_VERSION}         = YES (License: BSD)")
ELSEIF(NOT WITH_LIBLAS)
MESSAGE(STATUS "  With libLAS               = NO (WITH_LIBLAS=OFF)")
ELSE()
MESSAGE(STATUS "  With libLAS               = NO (libLAS not found)")
ENDIF()

IF(CudaSift_FOUND)
MESSAGE(STATUS "  With CudaSift             = YES (License: MIT)")
ELSEIF(NOT WITH_CUDASIFT)
MESSAGE(STATUS "  With CudaSift             = NO (WITH_CUDASIFT=OFF)")
ELSE()
MESSAGE(STATUS "  With CudaSift             = NO (CudaSift not found, use https://github.com/matlabbe/CudaSift fork)")
ENDIF()

MESSAGE(STATUS "")
MESSAGE(STATUS " Solvers:")
IF(WITH_TORO)
MESSAGE(STATUS "  With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])")
ELSE()
MESSAGE(STATUS "  With TORO                 = NO (WITH_TORO=OFF)")
ENDIF()

IF(G2O_FOUND)
MESSAGE(STATUS " *With g2o ${g2o_VERSION}            = YES (License: BSD)")
ELSEIF(NOT WITH_G2O)
MESSAGE(STATUS " *With g2o                  = NO (WITH_G2O=OFF)")
ELSE()
MESSAGE(STATUS " *With g2o                  = NO (g2o not found)")
ENDIF()

IF(GTSAM_FOUND)
MESSAGE(STATUS " *With GTSAM ${GTSAM_VERSION}          = YES (License: BSD)")
ELSEIF(NOT WITH_GTSAM)
MESSAGE(STATUS " *With GTSAM                = NO (WITH_GTSAM=OFF)")
ELSE()
MESSAGE(STATUS " *With GTSAM                = NO (GTSAM not found)")
ENDIF()

IF(WITH_CERES AND CERES_FOUND)
MESSAGE(STATUS " *With Ceres ${Ceres_VERSION}         = YES (License: BSD)")
ELSEIF(NOT WITH_CERES)
MESSAGE(STATUS " *With Ceres                = NO (WITH_CERES=OFF)")
ELSE()
MESSAGE(STATUS " *With Ceres                = NO (Ceres not found)")
ENDIF()

IF(MRPT_FOUND)
MESSAGE(STATUS "  With MRPT ${MRPT_VERSION}           = YES (License: BSD)")
ELSEIF(NOT WITH_MRPT)
MESSAGE(STATUS "  With MRPT                 = NO (WITH_MRPT=OFF)")
ELSE()
MESSAGE(STATUS "  With MRPT                 = NO (MRPT not found)")
ENDIF()

IF(G2O_FOUND OR GTSAM_FOUND)
IF(WITH_VERTIGO)
MESSAGE(STATUS "  With VERTIGO              = YES (License: GPLv3)")
ELSE()
MESSAGE(STATUS "  With VERTIGO              = NO (WITH_VERTIGO=OFF)")
ENDIF()
ELSE()
MESSAGE(STATUS "  With VERTIGO              = NO (GTSAM or g2o required)")
ENDIF()

IF(cvsba_FOUND)
MESSAGE(STATUS "  With cvsba                = YES (License: GPLv2)")
ELSEIF(NOT WITH_CVSBA)
MESSAGE(STATUS "  With cvsba                = NO (WITH_CVSBA=OFF)")
ELSE()
MESSAGE(STATUS "  With cvsba                = NO (cvsba not found)")
ENDIF()

IF(libpointmatcher_FOUND)
MESSAGE(STATUS " *With libpointmatcher ${libpointmatcher_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_POINTMATCHER)
MESSAGE(STATUS " *With libpointmatcher      = NO (WITH_POINTMATCHER=OFF)")
ELSE()
MESSAGE(STATUS " *With libpointmatcher      = NO (libpointmatcher not found)")
ENDIF()

IF(CCCoreLib_FOUND)
MESSAGE(STATUS "  With CCCoreLib            = YES (License: GPLv2)")
ELSEIF(NOT WITH_CCCORELIB)
MESSAGE(STATUS "  With CCCoreLib            = NO (WITH_CCCORELIB=OFF)")
ELSE()
MESSAGE(STATUS "  With CCCoreLib            = NO (CCCoreLib not found)")
ENDIF()

IF(Open3D_FOUND)
MESSAGE(STATUS "  With Open3D               = YES (License: MIT)")
ELSEIF(NOT WITH_OPEN3D)
MESSAGE(STATUS "  With Open3D               = NO (WITH_OPEN3D=OFF)")
ELSEIF(${CMAKE_VERSION} VERSION_LESS "3.19.0")
MESSAGE(STATUS "  With Open3D               = NO (Open3D requires CMake>=3.19)")
ELSE()
MESSAGE(STATUS "  With Open3D               = NO (Open3D not found)")
ENDIF()

IF(opengv_FOUND AND WITH_OPENGV)
IF(opengv_VERSION STREQUAL "internal")
MESSAGE(STATUS "  With OpenGV (internal)    = YES (License: BSD)")
ELSE()
MESSAGE(STATUS "  With OpenGV ${opengv_VERSION}           = YES (License: BSD)")
ENDIF()
ELSEIF(NOT WITH_OPENGV)
MESSAGE(STATUS "  With OpenGV               = NO (WITH_OPENGV=OFF)")
ELSE()
MESSAGE(STATUS "  With OpenGV               = NO (OpenGV not found)")
ENDIF()

MESSAGE(STATUS "")
MESSAGE(STATUS " Reconstruction Approaches:")
IF(octomap_FOUND)
MESSAGE(STATUS "  With OctoMap ${octomap_VERSION}        = YES (License: BSD)")
ELSEIF(NOT WITH_OCTOMAP)
MESSAGE(STATUS "  With OctoMap              = NO (WITH_OCTOMAP=OFF)")
ELSE()
MESSAGE(STATUS "  With OctoMap              = NO (octomap not found)")
ENDIF()

IF(grid_map_core_FOUND)
MESSAGE(STATUS "  With GridMap ${grid_map_core_VERSION}        = YES (License: BSD)")
ELSEIF(NOT WITH_GRIDMAP)
MESSAGE(STATUS "  With GridMap              = NO (WITH_GRIDMAP=OFF)")
ELSE()
MESSAGE(STATUS "  With GridMap              = NO (grid_map_core not found)")
ENDIF()

IF(CPUTSDF_FOUND)
MESSAGE(STATUS "  With CPUTSDF              = YES (License: BSD)")
ELSEIF(NOT WITH_CPUTSDF)
MESSAGE(STATUS "  With CPUTSDF              = NO (WITH_CPUTSDF=OFF)")
ELSE()
MESSAGE(STATUS "  With CPUTSDF              = NO (CPUTSDF not found)")
ENDIF()

IF(open_chisel_FOUND)
MESSAGE(STATUS "  With OpenChisel           = YES (License: ???)")
ELSEIF(NOT WITH_OPENCHISEL)
MESSAGE(STATUS "  With OpenChisel           = NO (WITH_OPENCHISEL=OFF)")
ELSE()
MESSAGE(STATUS "  With OpenChisel           = NO (open_chisel not found)")
ENDIF()

IF(AliceVision_FOUND)
MESSAGE(STATUS "  With AliceVision ${AliceVision_VERSION}    = YES (License: MPLv2)")
ELSEIF(NOT WITH_ALICE_VISION)
MESSAGE(STATUS "  With AliceVision          = NO (WITH_ALICE_VISION=OFF)")
ELSE()
MESSAGE(STATUS "  With AliceVision          = NO (AliceVision not found)")
ENDIF()

MESSAGE(STATUS "")
MESSAGE(STATUS " Camera Drivers:")
IF(Freenect_FOUND)
MESSAGE(STATUS "  With Freenect             = YES (License: Apache v2 and/or GPLv2)")
ELSEIF(NOT WITH_FREENECT)
MESSAGE(STATUS "  With Freenect             = NO (WITH_FREENECT=OFF)")
ELSE()
MESSAGE(STATUS "  With Freenect             = NO (libfreenect not found)")
ENDIF()

IF(WITH_OPENNI AND OpenNI_FOUND)
MESSAGE(STATUS "  With OpenNI               = YES (License: Apache v2)")
ELSEIF(NOT WITH_OPENNI)
MESSAGE(STATUS "  With OpenNI               = NO (WITH_OPENNI=OFF)")
ELSE()
MESSAGE(STATUS "  With OpenNI               = NO (OpenNI not found)")
ENDIF()

IF(OpenNI2_FOUND)
MESSAGE(STATUS "  With OpenNI2              = YES (License: Apache v2)")
ELSEIF(NOT WITH_OPENNI2)
MESSAGE(STATUS "  With OpenNI2              = NO (WITH_OPENNI2=OFF)")
ELSE()
MESSAGE(STATUS "  With OpenNI2              = NO (OpenNI2 not found)")
ENDIF()

IF(freenect2_FOUND)
MESSAGE(STATUS "  With Freenect2            = YES (License: Apache v2 and/or GPLv2)")
ELSEIF(NOT WITH_FREENECT2)
MESSAGE(STATUS "  With Freenect2            = NO (WITH_FREENECT2=OFF)")
ELSE()
MESSAGE(STATUS "  With Freenect2            = NO (libfreenect2 not found)")
ENDIF()

IF(KinectSDK2_FOUND)
MESSAGE(STATUS "  With Kinect for Windows 2 = YES (License: Apache v2 and/or GPLv2)")
ELSEIF(NOT WITH_K4W2)
MESSAGE(STATUS "  With Kinect for Windows 2 = NO (WITH_K4W2=OFF)")
ELSE()
MESSAGE(STATUS "  With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)")
ENDIF()

IF(k4a_FOUND)
MESSAGE(STATUS "  With Kinect for Azure     = YES (License: MIT)")
ELSEIF(NOT WITH_K4A)
MESSAGE(STATUS "  With Kinect for Azure     = NO (WITH_K4A=OFF)")
ELSE()
MESSAGE(STATUS "  With Kinect for Azure     = NO (Kinect for Azure SDK not found)")
ENDIF()

IF(DC1394_FOUND)
MESSAGE(STATUS "  With dc1394               = YES (License: LGPL)")
ELSEIF(NOT WITH_DC1394)
MESSAGE(STATUS "  With dc1394               = NO (WITH_DC1394=OFF)")
ELSE()
MESSAGE(STATUS "  With dc1394               = NO (dc1394 not found)")
ENDIF()

IF(FlyCapture2_FOUND)
MESSAGE(STATUS "  With FlyCapture2/Triclops = YES")
ELSEIF(NOT WITH_FLYCAPTURE2)
MESSAGE(STATUS "  With FlyCapture2/Triclops = NO (WITH_FLYCAPTURE2=OFF)")
ELSE()
MESSAGE(STATUS "  With FlyCapture2/Triclops = NO (Point Grey SDK not found)")
ENDIF()

IF(ZED_FOUND)
MESSAGE(STATUS "  With ZED                  = YES")
ELSEIF(NOT WITH_ZED)
MESSAGE(STATUS "  With ZED                  = NO (WITH_ZED=OFF)")
ELSE()
MESSAGE(STATUS "  With ZED                  = NO (ZED sdk and/or cuda not found)")
ENDIF()

IF(ZEDOC_FOUND)
MESSAGE(STATUS "  With ZEDOC                = YES")
ELSEIF(NOT WITH_ZEDOC)
MESSAGE(STATUS "  With ZEDOC                = NO (WITH_ZEDOC=OFF)")
ELSE()
MESSAGE(STATUS "  With ZEDOC                = NO (ZED Open Capture not found)")
ENDIF()

IF(RealSense_FOUND)
MESSAGE(STATUS "  With RealSense            = YES (License: Apache-2)")
IF(RealSenseSlam_FOUND)
MESSAGE(STATUS "  With RealSenseSlam        = YES")
ELSEIF(NOT WITH_REALSENSE)
MESSAGE(STATUS "  With RealSenseSlam        = NO (librealsense_slam not found)")
ELSE()
MESSAGE(STATUS "  With RealSenseSlam        = NO (WITH_REALSENSE_SLAM=OFF)")
ENDIF()
ELSEIF(NOT WITH_REALSENSE)
MESSAGE(STATUS "  With RealSense            = NO (WITH_REALSENSE=OFF)")
ELSE()
MESSAGE(STATUS "  With RealSense            = NO (librealsense not found)")
ENDIF()

IF(realsense2_FOUND)
IF(WIN32)
MESSAGE(STATUS "  With RealSense2           = YES (License: Apache-2)")
ELSE()
MESSAGE(STATUS "  With RealSense2 ${realsense2_VERSION}    = YES (License: Apache-2)")
ENDIF()
ELSEIF(NOT WITH_REALSENSE2)
MESSAGE(STATUS "  With RealSense2           = NO (WITH_REALSENSE2=OFF)")
ELSE()
MESSAGE(STATUS "  With RealSense2           = NO (librealsense2 not found)")
ENDIF()

IF(mynteye_FOUND)
MESSAGE(STATUS "  With MyntEyeS             = YES (License: Apache-2)")
ELSEIF(NOT WITH_MYNTEYE)
MESSAGE(STATUS "  With MyntEyeS             = NO (WITH_MYNTEYE=OFF)")
ELSE()
MESSAGE(STATUS "  With MyntEyeS             = NO (mynteye s sdk not found)")
ENDIF()

IF(depthai_FOUND)
MESSAGE(STATUS "  With DepthAI ${depthai_VERSION}       = YES (License: MIT)")
ELSEIF(NOT WITH_DEPTHAI)
MESSAGE(STATUS "  With DepthAI              = NO (WITH_DEPTHAI=OFF)")
ELSE()
MESSAGE(STATUS "  With DepthAI              = NO (depthai-core v2 not found)")
ENDIF()

IF(xvsdk_FOUND)
MESSAGE(STATUS "  With XVisio SDK ${xvsdk_VERSION}     = YES")
ELSEIF(NOT WITH_XVSDK)
MESSAGE(STATUS "  With XVisio SDK           = NO (WITH_XVSDK=OFF)")
ELSE()
MESSAGE(STATUS "  With XVisio SDK           = NO (xvsdk not found)")
ENDIF()

IF(OrbbecSDK_FOUND)
MESSAGE(STATUS "  With Orbbec SDK ${OrbbecSDK_VERSION}     = YES (License: MIT)")
ELSEIF(NOT WITH_ORBBEC_SDK)
MESSAGE(STATUS "  With Orbbec SDK           = NO (WITH_ORBBEC_SDK=OFF)")
ELSE()
MESSAGE(STATUS "  With Orbbec SDK           = NO (OrbbecSDK v2 not found)")
ENDIF()

MESSAGE(STATUS "")
MESSAGE(STATUS " Odometry Approaches:")
IF(loam_velodyne_FOUND)
MESSAGE(STATUS "  With loam_velodyne        = YES (License: BSD)")
ELSEIF(NOT WITH_LOAM)
MESSAGE(STATUS "  With loam_velodyne        = NO (WITH_LOAM=OFF)")
ELSE()
MESSAGE(STATUS "  With loam_velodyne        = NO (loam_velodyne not found)")
ENDIF()

IF(floam_FOUND)
MESSAGE(STATUS "  With floam                = YES (License: BSD)")
ELSEIF(NOT WITH_FLOAM)
MESSAGE(STATUS "  With floam                = NO (WITH_FLOAM=OFF)")
ELSE()
MESSAGE(STATUS "  With floam                = NO (floam not found)")
ENDIF()
IF(lio_sam_FOUND)
MESSAGE(STATUS "  With lio_sam              = YES (License: BSD)")
ELSEIF(NOT WITH_LIOSAM)
MESSAGE(STATUS "  With lio_sam              = NO (WITH_LIOSAM=OFF)")
ELSE()
MESSAGE(STATUS "  With lio_sam              = NO (lio_sam not found)")
ENDIF()

IF(libfovis_FOUND)
MESSAGE(STATUS "  With libfovis             = YES (License: GPLv2)")
ELSEIF(NOT WITH_FOVIS)
MESSAGE(STATUS "  With libfovis             = NO (WITH_FOVIS=OFF)")
ELSE()
MESSAGE(STATUS "  With libfovis             = NO (libfovis not found)")
ENDIF()

IF(libviso2_FOUND)
MESSAGE(STATUS "  With libviso2             = YES (License: GPLv3)")
ELSEIF(NOT WITH_VISO2)
MESSAGE(STATUS "  With libviso2             = NO (WITH_VISO2=OFF)")
ELSE()
MESSAGE(STATUS "  With libviso2             = NO (libviso2 not found)")
ENDIF()

IF(dvo_core_FOUND)
MESSAGE(STATUS "  With dvo_core             = YES (License: GPLv3)")
ELSEIF(NOT WITH_DVO)
MESSAGE(STATUS "  With dvo_core             = NO (WITH_DVO=OFF)")
ELSE()
MESSAGE(STATUS "  With dvo_core             = NO (dvo_core not found)")
ENDIF()

IF(okvis_FOUND)
MESSAGE(STATUS "  With okvis                = YES (License: BSD)")
ELSEIF(NOT WITH_OKVIS)
MESSAGE(STATUS "  With okvis                = NO (WITH_OKVIS=OFF)")
ELSE()
MESSAGE(STATUS "  With okvis                = NO (okvis not found)")
ENDIF()

IF(msckf_vio_FOUND)
MESSAGE(STATUS "  With msckf_vio            = YES (License: Penn Software License)")
ELSEIF(NOT WITH_MSCKF_VIO)
MESSAGE(STATUS "  With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)")
ELSE()
MESSAGE(STATUS "  With msckf_vio            = NO (msckf_vio not found)")
ENDIF()

IF(vins_FOUND)
MESSAGE(STATUS "  With VINS-Fusion          = YES (License: GPLv3)")
ELSEIF(NOT WITH_VINS)
MESSAGE(STATUS "  With VINS-Fusion          = NO (WITH_VINS_FUSION=OFF)")
ELSE()
MESSAGE(STATUS "  With VINS-Fusion          = NO (VINS-Fusion not found)")
ENDIF()

IF(OpenVINS_FOUND)
MESSAGE(STATUS "  With OpenVINS             = YES (License: GPLv3)")
ELSEIF(NOT WITH_OPENVINS)
MESSAGE(STATUS "  With OpenVINS             = NO (WITH_OPENVINS=OFF)")
ELSE()
MESSAGE(STATUS "  With OpenVINS             = NO (ov_msckf not found)")
ENDIF()

IF(ORB_SLAM_FOUND)
MESSAGE(STATUS "  With ORB_SLAM${ORB_SLAM_VERSION}            = YES (License: GPLv3)")
ELSEIF(NOT WITH_ORB_SLAM)
MESSAGE(STATUS "  With ORB_SLAM             = NO (WITH_ORB_SLAM=OFF)")
ELSEIF(G2O_FOUND)
MESSAGE(STATUS "  With ORB_SLAM             = NO (WITH_G2O should be OFF as ORB_SLAM uses its own g2o version)")
ELSE()
MESSAGE(STATUS "  With ORB_SLAM             = NO (ORB_SLAM2 and ORB_SLAM3 not found, make sure environment variable ORB_SLAM_ROOT_DIR is set)")
ENDIF()

IF(CUVSLAM_FOUND)
MESSAGE(STATUS "  With cuVSLAM              = YES (License: NVIDIA ISAAC ROS SOFTWARE LICENSE)")
ELSEIF(NOT WITH_CUVSLAM)
MESSAGE(STATUS "  With cuVSLAM              = NO (WITH_CUVSLAM=OFF)")
ELSE()
MESSAGE(STATUS "  With cuVSLAM              = NO (cuVSLAM not found, make sure cuVSLAM is installed)")
ENDIF()

MESSAGE(STATUS "Show all options with: cmake -LA | grep WITH_")
MESSAGE(STATUS "--------------------------------------------")

IF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO AND NOT WITH_CERES AND NOT CERES_FOUND)
MESSAGE(SEND_ERROR "No graph optimizer found! You should have at least one of these options:
       g2o (https://github.com/RainerKuemmerle/g2o)
       GTSAM (https://collab.cc.gatech.edu/borg/gtsam)
       Ceres (http://ceres-solver.org)
       set -DWITH_TORO=ON")
ENDIF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO AND NOT WITH_CERES AND NOT CERES_FOUND)

# vim: set et ft=cmake fenc=utf-8 ff=unix sts=0 sw=2 ts=2 :