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Explicitly show licenses of optional dependencies on CMake

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This commit is contained in:
matlabbe
2016-03-01 14:25:00 -05:00
parent e6e9c61c38
commit 1f999c4d28
20 changed files with 458 additions and 228 deletions
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corelib/src/Optimizer.cpp
+52 -7
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@@ -57,7 +57,7 @@ bool Optimizer::isAvailable(Optimizer::Type type)
}
else if(type == Optimizer::kTypeTORO)
{
return true;
return OptimizerTORO::available();
}
return false;
}
@@ -72,20 +72,65 @@ Optimizer * Optimizer::create(const ParametersMap & parameters)
Optimizer * Optimizer::create(Optimizer::Type & type, const ParametersMap & parameters)
{
UASSERT_MSG(OptimizerG2O::available() || OptimizerGTSAM::available() || OptimizerTORO::available(),
"RTAB-Map is not built with any graph optimization approach!");
if(!OptimizerTORO::available() && type == Optimizer::kTypeTORO)
{
if(OptimizerGTSAM::available())
{
UWARN("TORO optimizer not available. GTSAM will be used instead.");
type = Optimizer::kTypeGTSAM;
}
else if(OptimizerG2O::available())
{
UWARN("TORO optimizer not available. g2o will be used instead.");
type = Optimizer::kTypeG2O;
}
}
if(!OptimizerG2O::available() && type == Optimizer::kTypeG2O)
{
UWARN("g2o optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
if(OptimizerTORO::available())
{
UWARN("g2o optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerGTSAM::available())
{
UWARN("g2o optimizer not available. GTSAM will be used instead.");
type = Optimizer::kTypeGTSAM;
}
}
if(!OptimizerGTSAM::available() && type == Optimizer::kTypeGTSAM)
{
UWARN("GTSAM optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
if(OptimizerTORO::available())
{
UWARN("GTSAM optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerG2O::available())
{
UWARN("GTSAM optimizer not available. g2o will be used instead.");
type = Optimizer::kTypeG2O;
}
}
if(!OptimizerCVSBA::available() && type == Optimizer::kTypeCVSBA)
{
UWARN("CVSBA optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
if(OptimizerTORO::available())
{
UWARN("CVSBA optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerGTSAM::available())
{
UWARN("CVSBA optimizer not available. GTSAM will be used instead.");
type = Optimizer::kTypeGTSAM;
}
else if(OptimizerG2O::available())
{
UWARN("CVSBA optimizer not available. g2o will be used instead.");
type = Optimizer::kTypeG2O;
}
}
Optimizer * optimizer = 0;
switch(type)