i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactoring RTABMapConfig.cmake with targets (#904)

Browse Source 
* 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
2023-02-12 16:18:01 -08:00
committed by GitHub
parent 437ed09335
commit 89e3e10d89
191 changed files with 1150 additions and 2199 deletions
Download Patch File Download Diff File Expand all files Collapse all files

126
corelib/src/CMakeLists.txt
View File

@@ -143,20 +143,29 @@ IF(MSVC)
ENDIF(MSVC)
SET(INCLUDE_DIRS
${CMAKE_CURRENT_BINARY_DIR}/../include
${PROJECT_SOURCE_DIR}/utilite/include
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_CURRENT_BINARY_DIR}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_BINARY_DIR}
${CMAKE_CURRENT_BINARY_DIR}/include
${ZLIB_INCLUDE_DIRS}
)
SET(PUBLIC_INCLUDE_DIRS
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
SET(LIBRARIES
${OpenCV_LIBS}
${PCL_LIBRARIES}
${ZLIB_LIBRARIES}
${ZLIB_LIBRARIES}
)
# Issue that qhull dependency uses optimized and debug keywords,
# which are converted to \$<\$<NOT:\$<CONFIG:DEBUG>> and \$<\$<CONFIG:DEBUG>
# in RTABMap_coreTargets.cmake (not sure why?!).
list(REMOVE_ITEM PCL_LIBRARIES "debug" "optimized")
SET(PUBLIC_LIBRARIES
${OpenCV_LIBS}
${PCL_LIBRARIES}
)
IF(Sqlite3_FOUND)
@@ -264,18 +273,18 @@ IF(KinectSDK2_FOUND)
ENDIF(KinectSDK2_FOUND)
IF(k4a_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
SET(PUBLIC_INCLUDE_DIRS
${PUBLIC_INCLUDE_DIRS}
${k4a_INCLUDE_DIRS}
)
IF(WIN32)
SET(LIBRARIES
${LIBRARIES}
SET(PUBLIC_LIBRARIES
${PUBLIC_LIBRARIES}
${k4a_LIBRARIES}
)
ELSE()
SET(LIBRARIES
${LIBRARIES}
SET(PUBLIC_LIBRARIES
${PUBLIC_LIBRARIES}
k4a::k4a
k4a::k4arecord
)
@@ -294,23 +303,23 @@ IF(RealSense_FOUND)
ENDIF(RealSense_FOUND)
IF(realsense2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
SET(PUBLIC_INCLUDE_DIRS
${PUBLIC_INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
IF(WIN32)
SET(LIBRARIES
${LIBRARIES}
SET(PUBLIC_LIBRARIES
${PUBLIC_LIBRARIES}
${RealSense2_LIBRARIES}
)
ELSEIF(APPLE)
SET(LIBRARIES
${LIBRARIES}
SET(PUBLIC_LIBRARIES
${PUBLIC_LIBRARIES}
${realsense2_LIBRARIES}
)
ELSE()
SET(LIBRARIES
${LIBRARIES}
SET(PUBLIC_LIBRARIES
${PUBLIC_LIBRARIES}
realsense2::realsense2 # target
)
ENDIF()
@@ -387,7 +396,7 @@ IF(G2O_FOUND)
g2o::csparse_extension)
ENDIF(TARGET g2o::solver_csparse)
IF(TARGET g2o::solver_cholmod)
SET(LIBRARIES ${LIBRARIES}
SET(LIBRARIES ${LIBRARIES}
g2o::solver_cholmod)
ENDIF(TARGET g2o::solver_cholmod)
ELSE()
@@ -559,12 +568,12 @@ IF(ZEDOC_FOUND)
ENDIF(ZEDOC_FOUND)
IF(octomap_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
SET(PUBLIC_INCLUDE_DIRS
${PUBLIC_INCLUDE_DIRS}
${OCTOMAP_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
SET(PUBLIC_LIBRARIES
${PUBLIC_LIBRARIES}
${OCTOMAP_LIBRARIES}
)
SET(SRC_FILES
@@ -752,7 +761,20 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# Add binary that is built from the source file "main.cpp".
# The extension is automatically found.
ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS})
TARGET_LINK_LIBRARIES(rtabmap_core rtabmap_utilite ${LIBRARIES})
generate_export_header(rtabmap_core
DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED)
target_include_directories(rtabmap_core PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include;${PUBLIC_INCLUDE_DIRS}>"
"$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR};${PUBLIC_INCLUDE_DIRS}>")
TARGET_LINK_LIBRARIES(rtabmap_core
PUBLIC
rtabmap_utilite
${PUBLIC_LIBRARIES}
PRIVATE
${LIBRARIES})
SET_TARGET_PROPERTIES(
rtabmap_core
@@ -761,21 +783,37 @@ SET_TARGET_PROPERTIES(
SOVERSION ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}
)
INSTALL(TARGETS rtabmap_core
INSTALL(TARGETS rtabmap_core EXPORT rtabmap_coreTargets
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel)
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/
DESTINATION "${INSTALL_INCLUDE_DIR}"
COMPONENT devel
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
PATTERN ".svn" EXCLUDE)
# For generated Version.h
install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/../include/
DESTINATION "${INSTALL_INCLUDE_DIR}"
COMPONENT devel
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
PATTERN ".svn" EXCLUDE)
configure_file(
${CMAKE_CURRENT_BINARY_DIR}/rtabmap_core_export.h
${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_PREFIX}/core/rtabmap_core_export.h
COPYONLY)
install(
DIRECTORY
${CMAKE_CURRENT_SOURCE_DIR}/../include/${PROJECT_PREFIX}
${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_PREFIX}
DESTINATION
${INSTALL_INCLUDE_DIR}
COMPONENT
devel
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
)
export(EXPORT rtabmap_coreTargets
FILE "${CMAKE_CURRENT_BINARY_DIR}/../../${PROJECT_NAME}_coreTargets.cmake"
)
install(EXPORT rtabmap_coreTargets
FILE
${PROJECT_NAME}_coreTargets.cmake
DESTINATION
${INSTALL_CMAKE_DIR}
COMPONENT
devel
)