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Refactoring RTABMapConfig.cmake with targets (#904)

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* 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
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102
guilib/src/CMakeLists.txt
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@@ -128,51 +128,30 @@ IF(MSVC)
ENDIF(MSVC)
SET(INCLUDE_DIRS
${PROJECT_BINARY_DIR}/corelib/include
${PROJECT_SOURCE_DIR}/corelib/include
${PROJECT_SOURCE_DIR}/utilite/include
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
${PCL_INCLUDE_DIRS}
)
# Hack as CameraRealsense2.h needs realsense2 include dir
IF(realsense2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
ENDIF(realsense2_FOUND)
# Hack as CameraK4A.h needs k4a include dir
IF(k4a_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${k4a_INCLUDE_DIRS}
)
ENDIF(k4a_FOUND)
IF(QT4_FOUND)
INCLUDE(${QT_USE_FILE})
ENDIF(QT4_FOUND)
SET(LIBRARIES
${QT_LIBRARIES}
${OpenCV_LIBS}
${PCL_LIBRARIES}
)
SET(LIBRARIES "")
SET(PUBLIC_LIBRARIES "")
IF(octomap_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${OCTOMAP_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${OCTOMAP_LIBRARIES}
)
ENDIF(octomap_FOUND)
IF(Qt5_FOUND)
SET(PUBLIC_LIBRARIES ${PUBLIC_LIBRARIES} Qt5::Widgets Qt5::Core Qt5::Gui)
SET(LIBRARIES ${LIBRARIES} Qt5::PrintSupport)
IF(Qt5Svg_FOUND)
SET(LIBRARIES ${LIBRARIES} Qt5::Svg)
ENDIF()
ELSE()
SET(PUBLIC_LIBRARIES ${PUBLIC_LIBRARIES} ${QTCORE_LIBRARY} ${QTGUI_LIBRARY})
IF(QTSVG_FOUND)
SET(LIBRARIES ${LIBRARIES} ${QTSVG_LIBRARY})
ENDIF()
ENDIF()
IF(CPUTSDF_FOUND)
SET(INCLUDE_DIRS
@@ -208,16 +187,20 @@ add_definitions(${PCL_DEFINITIONS})
# create a library from the source files
ADD_LIBRARY(rtabmap_gui ${SRC_FILES})
# Linking with Qt libraries
TARGET_LINK_LIBRARIES(rtabmap_gui rtabmap_core rtabmap_utilite ${LIBRARIES})
IF(Qt5_FOUND)
IF(Qt5Svg_FOUND)
QT5_USE_MODULES(rtabmap_gui Widgets Core Gui Svg PrintSupport)
ELSE()
QT5_USE_MODULES(rtabmap_gui Widgets Core Gui PrintSupport)
ENDIF()
ENDIF(Qt5_FOUND)
generate_export_header(rtabmap_gui
DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED)
target_include_directories(rtabmap_gui PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include>"
"$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>")
TARGET_LINK_LIBRARIES(rtabmap_gui
PUBLIC
rtabmap_core ${PUBLIC_LIBRARIES}
PRIVATE
${LIBRARIES}
)
SET_TARGET_PROPERTIES(
rtabmap_gui
@@ -226,9 +209,34 @@ SET_TARGET_PROPERTIES(
SOVERSION ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}
)
INSTALL(TARGETS rtabmap_gui
INSTALL(TARGETS rtabmap_gui EXPORT rtabmap_guiTargets
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 ".svn" EXCLUDE)
configure_file(
${CMAKE_CURRENT_BINARY_DIR}/rtabmap_gui_export.h
${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_PREFIX}/gui/rtabmap_gui_export.h
COPYONLY)
install(
DIRECTORY
${CMAKE_CURRENT_SOURCE_DIR}/../include/${PROJECT_PREFIX}
${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_PREFIX}
DESTINATION
${INSTALL_INCLUDE_DIR}
COMPONENT
devel
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
)
export(EXPORT rtabmap_guiTargets
FILE "${CMAKE_CURRENT_BINARY_DIR}/../../${PROJECT_NAME}_guiTargets.cmake"
)
install(EXPORT rtabmap_guiTargets
FILE
${PROJECT_NAME}_guiTargets.cmake
DESTINATION
${INSTALL_CMAKE_DIR}
COMPONENT
devel
)