Merge branch 'master' of https://github.com/introlab/rtabmap into devel

CMakeLists.txt

@@ -121,26 +121,57 @@ IF(APPLE)
 ENDIF(APPLE)
 
 ####### DEPENDENCIES #######
+
+option(WITH_QT            "Include Qt support"                   ON)
+option(WITH_FREENECT      "Include Freenect support"             ON)
+option(WITH_FREENECT2     "Include Freenect2 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_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
+
 FIND_PACKAGE(OpenCV REQUIRED)
 FIND_PACKAGE(PCL 1.7 REQUIRED)
-FIND_PACKAGE(VTK REQUIRED)
-IF("${VTK_MAJOR_VERSION}" EQUAL 5)
-	FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
-ENDIF("${VTK_MAJOR_VERSION}" EQUAL 5)
 FIND_PACKAGE(ZLIB REQUIRED)
-FIND_PACKAGE(Freenect)
-FIND_PACKAGE(freenect2 QUIET)
-FIND_PACKAGE(OpenNI2)
-FIND_PACKAGE(DC1394)
-FIND_PACKAGE(G2O)
-FIND_PACKAGE(FlyCapture2)
 
+IF(WITH_QT)
 # If Qt is here, the GUI will be built
-IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
+    IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
-    FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
+        FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
-ELSE()
+    ELSE()
-    FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
+        FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
-ENDIF()
+    ENDIF()
+    IF(QT4_FOUND OR Qt5_FOUND)
+        FIND_PACKAGE(VTK REQUIRED)
+        IF("${VTK_MAJOR_VERSION}" EQUAL 5)
+            FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
+        ENDIF("${VTK_MAJOR_VERSION}" EQUAL 5)
+    ENDIF(QT4_FOUND OR Qt5_FOUND)
+ENDIF(WITH_QT)
+
+IF(WITH_FREENECT)
+    FIND_PACKAGE(Freenect)
+ENDIF(WITH_FREENECT)
+
+IF(WITH_FREENECT2)
+    FIND_PACKAGE(freenect2 QUIET)
+ENDIF(WITH_FREENECT2)
+
+IF(WITH_OPENNI2)
+    FIND_PACKAGE(OpenNI2)
+ENDIF(WITH_OPENNI2)
+
+IF(WITH_DC1394)
+    FIND_PACKAGE(DC1394)
+ENDIF(WITH_DC1394)
+
+IF(WITH_G2O)
+    FIND_PACKAGE(G2O)
+ENDIF(WITH_G2O)
+
+IF(WITH_FLYCAPTURE2)
+    FIND_PACKAGE(FlyCapture2)
+ENDIF(WITH_FLYCAPTURE2)
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
@@ -183,8 +214,8 @@ ADD_SUBDIRECTORY( corelib )
 IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
    ADD_SUBDIRECTORY( guilib )
    ADD_SUBDIRECTORY( app )
-ELSE()
+ELSEIF(WITH_QT)
-   MESSAGE(STATUS "[WARNING] Qt not found, the GUI lib and the stand-alone application will not be compiled...")
+   MESSAGE(WARNING "Qt not found, the GUI lib and the stand-alone application will not be compiled...")
 ENDIF()
 
 ADD_SUBDIRECTORY( tools )
@@ -213,6 +244,7 @@ set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/corelib/include"
 					  "${PROJECT_SOURCE_DIR}/guilib/include" 
 					  "${PROJECT_SOURCE_DIR}/utilite/include")
 set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
+set(CONF_WITH_GUI ${WITH_QT})
 configure_file(RTABMapConfig.cmake.in
   "${PROJECT_BINARY_DIR}/RTABMapConfig.cmake" @ONLY)
   
@@ -346,36 +378,48 @@ ENDIF(OpenCV_FOUND)
 
 IF(Freenect_FOUND)
 MESSAGE(STATUS "  With Freenect             = YES")
+ELSEIF(NOT WITH_FREENECT)
+MESSAGE(STATUS "  With Freenect             = NO (WITH_FREENECT=OFF)")
 ELSE()
 MESSAGE(STATUS "  With Freenect             = NO (libfreenect not found)")
 ENDIF()
 
 IF(OpenNI2_FOUND)
 MESSAGE(STATUS "  With OpenNI2              = YES")
+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")
+ELSEIF(NOT WITH_FREENECT2)
+MESSAGE(STATUS "  With Freenect2            = NO (WITH_FREENECT2=OFF)")
 ELSE()
 MESSAGE(STATUS "  With Freenect2            = NO (libfreenect2 not found)")
 ENDIF()
 
 IF(DC1394_FOUND)
 MESSAGE(STATUS "  With dc1394               = YES")
+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(G2O_FOUND)
 MESSAGE(STATUS "  With g2o                  = YES")
+ELSEIF(NOT WITH_G2O)
+MESSAGE(STATUS "  With g2o                  = NO (WITH_G2O=OFF)")
 ELSE()
 MESSAGE(STATUS "  With g2o                  = NO (g2o not found)")
 ENDIF()
@@ -384,6 +428,8 @@ IF(QT4_FOUND)
 MESSAGE(STATUS "  With Qt                   = YES (version 4)")
 ELSEIF(Qt5_FOUND)
 MESSAGE(STATUS "  With Qt                   = YES (version 5)")
+ELSEIF(NOT WITH_QT)
+MESSAGE(STATUS "  With Qt                   = NO (WITH_QT=OFF)")
 ELSE()
 MESSAGE(STATUS "  With Qt                   = NO (Qt not found, to use Qt5 you should set -DRTABMAP_QT_VERSION=5)")
 ENDIF()

RTABMapConfig.cmake.in

@@ -2,12 +2,72 @@
 # It defines the following variables
 #  RTABMap_INCLUDE_DIRS - include directories for RTABMap
 #  RTABMap_LIBRARIES    - libraries to link against
+#  RTABMap_CORE         - core library
+#  RTABMap_UTILITE      - utilite library
+#  RTABMap_GUI          - gui library (set if RTABMap is built with Qt)
 
 # Compute paths
 get_filename_component(RTABMap_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
 set(RTABMap_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
 
-find_library(RTABMAP_CORE NAMES rtabmap_core rtabmap_cored NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
+#core lib
-find_library(RTABMAP_GUI NAMES rtabmap_gui rtabmap_guid NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
+find_library(RTABMap_CORE_RELEASE NAMES rtabmap_core NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
-find_library(RTABMAP_UTILITE NAMES rtabmap_utilite rtabmap_utilited NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
+find_library(RTABMap_CORE_DEBUG NAMES rtabmap_cored NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
-set(RTABMap_LIBRARIES ${RTABMAP_CORE} ${RTABMAP_GUI} ${RTABMAP_UTILITE})
+
+IF(RTABMap_CORE_DEBUG AND RTABMap_CORE_RELEASE)
+   SET(RTABMap_CORE
+      debug ${RTABMap_CORE_DEBUG}
+      optimized ${RTABMap_CORE_RELEASE}
+   )
+ELSEIF(RTABMap_CORE_RELEASE)
+   SET(RTABMap_CORE ${RTABMap_CORE_RELEASE})
+ELSEIF(RTABMap_CORE_DEBUG)
+   SET(RTABMap_CORE ${RTABMap_CORE_DEBUG})
+ENDIF()
+
+#utilite lib
+find_library(RTABMap_UTILITE_RELEASE NAMES rtabmap_utilite NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
+find_library(RTABMap_UTILITE_DEBUG NAMES rtabmap_utilited NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
+
+IF(RTABMap_UTILITE_DEBUG AND RTABMap_UTILITE_RELEASE)
+   SET(RTABMap_UTILITE
+      debug ${RTABMap_UTILITE_DEBUG}
+      optimized ${RTABMap_UTILITE_RELEASE}
+   )
+ELSEIF(RTABMap_UTILITE_RELEASE)
+   SET(RTABMap_UTILITE ${RTABMap_UTILITE_RELEASE})
+ELSEIF(RTABMap_UTILITE_DEBUG)
+   SET(RTABMap_UTILITE ${RTABMap_UTILITE_DEBUG})
+ENDIF()
+
+set(RTABMap_LIBRARIES ${RTABMap_CORE} ${RTABMap_UTILITE})
+
+#gui lib (OFF if RTAB-Map is not built with Qt)
+if(@CONF_WITH_GUI@)
+   find_library(RTABMap_GUI_RELEASE NAMES rtabmap_gui NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
+   find_library(RTABMap_GUI_DEBUG NAMES rtabmap_guid NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
+   
+   IF(RTABMap_GUI_DEBUG AND RTABMap_GUI_RELEASE)
+      SET(RTABMap_GUI
+         debug ${RTABMap_GUI_DEBUG}
+         optimized ${RTABMap_GUI_RELEASE}
+      )
+   ELSEIF(RTABMap_GUI_RELEASE)
+      SET(RTABMap_GUI ${RTABMap_GUI_RELEASE})
+   ELSEIF(RTABMap_GUI_DEBUG)
+      SET(RTABMap_GUI ${RTABMap_GUI_DEBUG})
+   ENDIF()
+   
+   set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} ${RTABMap_GUI})
+endif(@CONF_WITH_GUI@)
+
+#backward compatibilities
+if(RTABMap_CORE)
+   set(RTABMAP_CORE ${RTABMap_CORE})
+endif(RTABMap_CORE)
+if(RTABMap_UTILITE)
+   set(RTABMAP_UTILITE ${RTABMap_UTILITE})
+endif(RTABMap_UTILITE)
+if(RTABMap_GUI)
+   set(RTABMAP_GUI ${RTABMap_GUI})
+endif(RTABMap_GUI)