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https://github.com/introlab/rtabmap.git
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Refactoring RTABMapConfig.cmake with targets (#904)
* Config: Using cmake targets * fixed RTABMAP_DEPRECATED build error * fixed melodic build * cleanup * Fixed qhull exported library error * Update svg depend private * removed g2o from public interface * Fixed Windows with external project * removed some required dep * Fixed nsis error (also fixed unspecified components) * updated workflow rules
This commit is contained in:
matlabbe
@@ -1,99 +1,78 @@
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# - Config file for the RTABMap package
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# Components:
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# core (required)
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# gui (optional)
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# utilite (required)
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# It defines the following variables
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# RTABMap_INCLUDE_DIRS - include directories for RTABMap
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# RTABMap_LIBRARIES - libraries to link against
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# RTABMap_CORE - core library
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# RTABMap_UTILITE - utilite library
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# RTABMap_GUI - gui library (set if RTABMap is built with Qt)
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include(CMakeFindDependencyMacro)
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find_dependency(OpenCV)
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find_dependency(PCL 1.7)
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# Compute paths
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get_filename_component(RTABMap_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
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set(RTABMap_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
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#core lib
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find_library(RTABMap_CORE_RELEASE NAMES rtabmap_core NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
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find_library(RTABMap_CORE_DEBUG NAMES rtabmap_cored NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
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IF(RTABMap_CORE_DEBUG AND RTABMap_CORE_RELEASE)
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SET(RTABMap_CORE
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debug ${RTABMap_CORE_DEBUG}
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optimized ${RTABMap_CORE_RELEASE}
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)
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ELSEIF(RTABMap_CORE_DEBUG)
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SET(RTABMap_CORE ${RTABMap_CORE_DEBUG})
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ELSE()
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SET(RTABMap_CORE ${RTABMap_CORE_RELEASE})
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IF(EXISTS "${CMAKE_CURRENT_LIST_DIR}/@CONF_MODULES_DIR@")
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/@CONF_MODULES_DIR@")
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ENDIF()
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#utilite lib
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find_library(RTABMap_UTILITE_RELEASE NAMES rtabmap_utilite NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
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find_library(RTABMap_UTILITE_DEBUG NAMES rtabmap_utilited NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
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IF(RTABMap_UTILITE_DEBUG AND RTABMap_UTILITE_RELEASE)
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SET(RTABMap_UTILITE
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debug ${RTABMap_UTILITE_DEBUG}
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optimized ${RTABMap_UTILITE_RELEASE}
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)
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ELSEIF(RTABMap_UTILITE_DEBUG)
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SET(RTABMap_UTILITE ${RTABMap_UTILITE_DEBUG})
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ELSE()
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SET(RTABMap_UTILITE ${RTABMap_UTILITE_RELEASE})
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IF(@CONF_WITH_REALSENSE2@)
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IF(WIN32)
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find_dependency(RealSense2)
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ELSE()
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find_dependency(realsense2)
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ENDIF()
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ENDIF()
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set(RTABMap_LIBRARIES ${RTABMap_CORE} ${RTABMap_UTILITE})
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IF(@CONF_WITH_K4A@)
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IF(WIN32)
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find_dependency(K4A)
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ELSE()
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find_dependency(k4a)
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find_dependency(k4arecord)
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ENDIF()
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ENDIF()
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list(LENGTH RTABMap_FIND_COMPONENTS RTABMap_FIND_COMPONENTS_LENGTH)
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set(WITH_GUI ON)
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if(${RTABMap_FIND_COMPONENTS_LENGTH} GREATER 0)
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list (FIND RTABMap_FIND_COMPONENTS "gui" _index)
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if (${_index} EQUAL -1)
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set(WITH_GUI OFF)
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endif()
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endif(${RTABMap_FIND_COMPONENTS_LENGTH} GREATER 0)
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IF(@CONF_WITH_OCTOMAP@)
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find_dependency(octomap)
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ENDIF()
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set(RTABMap_DEFINITIONS ${PCL_DEFINITIONS})
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#gui lib (OFF if RTAB-Map is not built with Qt)
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if(@CONF_WITH_GUI@ AND ${WITH_GUI})
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find_library(RTABMap_GUI_RELEASE NAMES rtabmap_gui NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
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find_library(RTABMap_GUI_DEBUG NAMES rtabmap_guid NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
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IF(RTABMap_GUI_DEBUG AND RTABMap_GUI_RELEASE)
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SET(RTABMap_GUI
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debug ${RTABMap_GUI_DEBUG}
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optimized ${RTABMap_GUI_RELEASE}
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)
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ELSEIF(RTABMap_GUI_RELEASE)
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SET(RTABMap_GUI ${RTABMap_GUI_RELEASE})
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ELSEIF(RTABMap_GUI_DEBUG)
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SET(RTABMap_GUI ${RTABMap_GUI_DEBUG})
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ENDIF()
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set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} ${RTABMap_GUI})
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elseif(${WITH_GUI})
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MESSAGE(WARNING "Asked for \"gui\" module but RTABMap hasn't been built with gui support.")
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endif()
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# Provide those for backward compatibilities (e.g., catkin requires them to propagate dependencies)
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set(RTABMap_INCLUDE_DIRS "")
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set(RTABMap_LIBRARIES "")
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# Dependencies
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if(@CONF_VTK_QT@ AND ${WITH_GUI})
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find_package(VTK COMPONENTS vtkGUISupportQt NO_MODULE) # to define vtkGUISupportQt target
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endif(@CONF_VTK_QT@ AND ${WITH_GUI})
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if(@CONF_DEPTH_AI@)
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FIND_PACKAGE(depthai 2 QUIET REQUIRED)
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endif(@CONF_DEPTH_AI@)
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SET(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} "@CONF_DEPENDENCIES@")
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set(_RTABMap_supported_components utilite core gui)
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#backward compatibilities
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set(RTABMAP_CORE ${RTABMap_CORE})
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set(RTABMAP_UTILITE ${RTABMap_UTILITE})
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if(RTABMap_GUI)
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set(RTABMAP_GUI ${RTABMap_GUI})
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set(RTABMAP_QT_VERSION @CONF_QT_VERSION@)
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endif(RTABMap_GUI)
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foreach(_comp ${_RTABMap_supported_components})
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if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_${_comp}Targets.cmake")
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if (${_comp} STREQUAL "gui")
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if(@CONF_QT_VERSION@ EQUAL 5)
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find_dependency(Qt5 COMPONENTS Widgets Core Gui PrintSupport OpenGL OPTIONAL_COMPONENTS Svg)
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else() # Qt4
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find_dependency(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
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endif()
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set(RTABMap_QT_VERSION @CONF_QT_VERSION@)
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endif()
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include("${CMAKE_CURRENT_LIST_DIR}/RTABMap_${_comp}Targets.cmake")
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set(RTABMap_${_comp}_FOUND True)
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get_target_property(RTABMap_${_comp}_INCLUDE_DIRS rtabmap_${_comp} INTERFACE_INCLUDE_DIRECTORIES)
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get_target_property(RTABMap_${_comp}_LIBRARIES rtabmap_${_comp} INTERFACE_LINK_LIBRARIES)
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set(RTABMap_INCLUDE_DIRS
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${RTABMap_INCLUDE_DIRS}
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${RTABMap_${_comp}_INCLUDE_DIRS})
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set(RTABMap_LIBRARIES
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${RTABMap_LIBRARIES}
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rtabmap_${_comp})
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if(RTABMap_${_comp}_LIBRARIES)
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set(RTABMap_LIBRARIES
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${RTABMap_LIBRARIES}
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${RTABMap_${_comp}_LIBRARIES})
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endif()
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else()
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set(RTABMap_${_comp}_FOUND False)
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endif()
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endforeach()
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(RTABMap DEFAULT_MSG RTABMap_LIBRARIES RTABMap_INCLUDE_DIRS)
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mark_as_advanced(RTABMap_LIBRARIES RTABMap_INCLUDE_DIRS RTABMap_LIBRARY_DIRS)
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include("${CMAKE_CURRENT_LIST_DIR}/RTABMapTargets.cmake")
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foreach(_comp ${RTABMap_FIND_COMPONENTS})
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if (NOT ";${_RTABMap_supported_components};" MATCHES ";${_comp};")
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set(RTABMap_${_comp}_FOUND False)
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if(${RTABMap_FIND_REQUIRED_${_comp}})
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set(RTABMap_FOUND False)
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set(RTABMap_NOT_FOUND_MESSAGE "Unsupported or not found required component: ${_comp}")
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endif()
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endif()
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endforeach()
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