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This commit is contained in:
matlabbe
2026-04-05 14:20:35 -07:00
parent ffb3be7ba3 8fd701aabe
commit 0405949ff4
103 changed files with 7621 additions and 3191 deletions
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CMakeLists.txt
+73 -11
View File
@@ -1,5 +1,6 @@
# Top-Level CmakeLists.txt
cmake_minimum_required(VERSION 3.14)
PROJECT( RTABMap )
SET(PROJECT_PREFIX rtabmap)
@@ -11,6 +12,7 @@ IF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
ENDIF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
INCLUDE(GNUInstallDirs)
INCLUDE(FetchContent)
####### local cmake modules #######
SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
@@ -20,7 +22,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 23)
SET(RTABMAP_PATCH_VERSION 3)
SET(RTABMAP_PATCH_VERSION 4)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -235,6 +237,7 @@ 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)
IF(MOBILE_BUILD)
option(PCL_OMP "With PCL OMP implementations" OFF)
ELSE()
@@ -656,7 +659,8 @@ IF(WITH_ZED)
IF(CUDA_FOUND)
MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}")
ELSE()
MESSAGE(FATAL_ERROR "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
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)
@@ -801,8 +805,6 @@ IF(WITH_OKVIS)
MESSAGE(STATUS "Found okvis: ${OKVIS_INCLUDE_DIRS}")
find_package(brisk 2 REQUIRED)
MESSAGE(STATUS "Found brisk: ${BRISK_INCLUDE_DIRS}")
find_package(opengv REQUIRED)
MESSAGE(STATUS "Found opengv: ${OPENGV_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)
@@ -866,12 +868,58 @@ IF(WITH_FASTCV)
ENDIF(FastCV_FOUND)
ENDIF(WITH_FASTCV)
IF(WITH_OPENGV)
FIND_PACKAGE(opengv QUIET)
IF(opengv_FOUND)
MESSAGE(STATUS "Found OpenGV: ${opengv_INCLUDE_DIRS}")
ENDIF(opengv_FOUND)
ENDIF(WITH_OPENGV)
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 ${CMAKE_CURRENT_LIST_DIR}/patches/apply_patch.cmake
)
set(BUILD_SHARED_LIBS OFF)
set(BUILD_TESTS OFF)
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
# Eigen should have been already added by PCL, just populate the compatible variables
IF(EIGEN_INCLUDE_DIRS)
set(EIGEN_INCLUDE_DIRS "${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 ${PCL_USING_MARCHNATIVE})
FetchContent_MakeAvailable(opengv)
endfunction()
add_submodule_opengv()
set(opengv_FOUND TRUE)
set(opengv_VERSION "internal")
endif()
ENDIF()
IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
FIND_PACKAGE(ORB_SLAM)
@@ -1302,7 +1350,17 @@ install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_PR
#######################
IF(BUILD_AS_BUNDLE)
SET(CMAKE_INSTALL_SYSTEM_RUNTIME_COMPONENT runtime)
IF(WIN32)
set(CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP TRUE)
set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS "
ExecWait '\\\"$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}")
@@ -1622,7 +1680,11 @@ 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()
@@ -1737,7 +1799,7 @@ ELSE()
MESSAGE(STATUS " With FlyCapture2/Triclops = NO (Point Grey SDK not found)")
ENDIF()
IF(ZED_FOUND AND CUDA_FOUND)
IF(ZED_FOUND)
MESSAGE(STATUS " With ZED = YES")
ELSEIF(NOT WITH_ZED)
MESSAGE(STATUS " With ZED = NO (WITH_ZED=OFF)")