Merge branch 'v4hn-gtsam-4.3'

CMakeLists.txt

@@ -525,6 +525,16 @@ 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)

corelib/src/optimizer/gtsam/GravityFactor.h

@@ -25,6 +25,9 @@
 #pragma once
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
+#if GTSAM_VERSION_NUMERIC >= 40300 && defined(GTSAM_WITH_NOISE_MODEL_FACTOR_N)
+#include <gtsam/nonlinear/NoiseModelFactorN.h>
+#endif
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Unit3.h>