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ios first release

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This commit is contained in:
matlabbe
2021-06-08 00:06:49 -04:00
parent 630cb6a59f
commit 289d4afd76
88 changed files with 9260 additions and 473 deletions
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19
CMakeLists.txt
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@@ -1,6 +1,5 @@
# Top-Level CmakeLists.txt
# For GNUInstallDirs
cmake_minimum_required(VERSION 2.8.5)
cmake_minimum_required(VERSION 3.5)
PROJECT( RTABMap )
SET(PROJECT_PREFIX rtabmap)
@@ -41,7 +40,13 @@ IF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
ENDIF("${CMAKE_BUILD_TYPE}" STREQUAL "")
ENDIF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
IF(NOT ANDROID)
SET(MOBILE_BUILD OFF)
IF(ANDROID OR CMAKE_SYSTEM_NAME STREQUAL "iOS")
SET(MOBILE_BUILD ON)
ENDIF(ANDROID OR CMAKE_SYSTEM_NAME STREQUAL "iOS")
MESSAGE(STATUS "MOBILE_BUILD=${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()
@@ -157,7 +162,7 @@ OPTION(BUILD_TOOLS "Build tools" ON)
OPTION(BUILD_EXAMPLES "Build examples" ON)
####### DEPENDENCIES #######
IF(ANDROID)
IF(MOBILE_BUILD)
option(WITH_QT "Include Qt support" OFF)
ELSE()
option(WITH_QT "Include Qt support" ON)
@@ -204,7 +209,7 @@ option(WITH_VINS "Include VINS-Fusion support" ON)
option(WITH_OPENVINS "Include OpenVINS support" ON)
option(WITH_MADGWICK "Include Madgwick IMU filtering support" ON)
option(WITH_FASTCV "Include FastCV support" ON)
IF(ANDROID)
IF(MOBILE_BUILD)
option(PCL_OMP "With PCL OMP implementations" OFF)
ELSE()
option(PCL_OMP "With PCL OMP implementations" ON)
@@ -249,13 +254,13 @@ 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"))
find_package(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")
message (STATUS "Found OpenMP: ${OpenMP_CXX_LIBRARIES}")
if(PCL_OMP)
add_definitions(-DPCL_OMP)
endif(PCL_OMP)