mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Merged pcl_integration branch to trunk
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
107
CMakeLists.txt
107
CMakeLists.txt
@@ -5,7 +5,7 @@ IF(APPLE OR WIN32)
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ELSE()
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cmake_minimum_required(VERSION 2.8.0)
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ENDIF()
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PROJECT( RTAB-Map )
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PROJECT( RTABMap )
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SET(PROJECT_PREFIX rtabmap)
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####### local cmake modules #######
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@@ -14,13 +14,17 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
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#######################
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# VERSION
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#######################
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SET(PROJECT_VERSION "0.5.0")
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SET(RTABMAP_MAJOR_VERSION 0)
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SET(RTABMAP_MINOR_VERSION 6)
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SET(RTABMAP_PATCH_VERSION 1)
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SET(RTABMAP_VERSION
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${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
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SET(PROJECT_VERSION "${RTABMAP_VERSION}")
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STRING(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
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LIST(GET PROJECT_VERSION_PARTS 0 PROJECT_VERSION_MAJOR)
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LIST(GET PROJECT_VERSION_PARTS 1 PROJECT_VERSION_MINOR)
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LIST(GET PROJECT_VERSION_PARTS 2 PROJECT_VERSION_PATCH)
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SET(PROJECT_VERSION_MAJOR ${RTABMAP_MAJOR_VERSION})
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SET(PROJECT_VERSION_MINOR ${RTABMAP_MINOR_VERSION})
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SET(PROJECT_VERSION_PATCH ${RTABMAP_PATCH_VERSION})
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SET(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
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@@ -36,10 +40,11 @@ ENDIF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
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SET(CMAKE_DEBUG_POSTFIX "d")
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ADD_DEFINITIONS( "-Wall" )
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IF(WIN32 AND NOT MINGW)
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ADD_DEFINITIONS("-wd4100 -wd4512 -wd4548 -wd4619 -wd4625 -wd4626 -wd4668 -wd4710 -wd4820")
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ADD_DEFINITIONS("-DNOMINMAX")
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ADD_DEFINITIONS("-wd4100 -wd4127 -wd4191 -wd4242 -wd4244 -wd4251 -wd4305 -wd4365 -wd4512 -wd4514 -wd4548 -wd4571 -wd4619 -wd4625 -wd4626 -wd4628 -wd4668 -wd4710 -wd4711 -wd4738 -wd4820 -wd4946 -wd4986")
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ELSE ()
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ADD_DEFINITIONS( "-Wall" )
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ADD_DEFINITIONS("-Wno-unknown-pragmas")
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ENDIF()
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@@ -110,19 +115,50 @@ SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
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SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
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SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
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####### INSTALL DIR #######
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# Offer the user the choice of overriding the installation directories
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set(INSTALL_LIB_DIR lib/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION} CACHE PATH "Installation directory for libraries")
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set(INSTALL_BIN_DIR bin CACHE PATH "Installation directory for executables")
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set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION} CACHE PATH
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"Installation directory for header files")
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if(WIN32 AND NOT CYGWIN)
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set(DEF_INSTALL_CMAKE_DIR CMake)
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else()
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set(DEF_INSTALL_CMAKE_DIR lib/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION})
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endif()
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set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
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"Installation directory for CMake files")
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######## for RTABMapConfig.cmake #########
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# Make relative paths absolute (needed later on)
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foreach(p LIB BIN INCLUDE CMAKE)
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set(var INSTALL_${p}_DIR)
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if(NOT IS_ABSOLUTE "${${var}}")
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set(${var} "${CMAKE_INSTALL_PREFIX}/${${var}}")
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endif()
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endforeach()
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####### BUILD OPTIONS #######
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OPTION(BUILD_LIBS_ONLY "Set to ON to build only the libraries" OFF)
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IF(APPLE)
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OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle (DragNDrop)" OFF)
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ENDIF(APPLE)
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OPTION(DEMO_BUILD "Set to ON to build DEMO version" OFF)
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####### DEPENDENCIES #######
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FIND_PACKAGE(OpenCV REQUIRED)
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FIND_PACKAGE(Sqlite3 REQUIRED)
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FIND_PACKAGE(PCL 1.7 REQUIRED)
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FIND_PACKAGE(VTK REQUIRED)
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FIND_PACKAGE(ZLIB REQUIRED)
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# If Qt is here, the GUI will be built
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FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
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IF(DEMO_BUILD)
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ADD_DEFINITIONS(-DDEMO_BUILD)
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ENDIF(DEMO_BUILD)
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####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
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IF(APPLE AND BUILD_AS_BUNDLE)
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IF(QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND)
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@@ -193,6 +229,47 @@ CONFIGURE_FILE(
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ADD_CUSTOM_TARGET(uninstall
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"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
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####
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# Setup RTABMapConfig.cmake
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####
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# Add all targets to the build-tree export set
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IF(BUILD_LIBS_ONLY)
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export(TARGETS rtabmap_core rtabmap_gui rtabmap_utilite
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FILE "${PROJECT_BINARY_DIR}/RTABMapTargets.cmake")
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ELSE()
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export(TARGETS rtabmap rtabmap_core rtabmap_gui rtabmap_utilite
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FILE "${PROJECT_BINARY_DIR}/RTABMapTargets.cmake")
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ENDIF()
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# Export the package for use from the build-tree
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# (this registers the build-tree with a global CMake-registry)
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export(PACKAGE RTABMap)
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# Create the RTABMapConfig.cmake and RTABMapConfigVersion files
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file(RELATIVE_PATH REL_INCLUDE_DIR "${INSTALL_CMAKE_DIR}"
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"${INSTALL_INCLUDE_DIR}")
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# ... for the build tree
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set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}" "${PROJECT_BINARY_DIR}")
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configure_file(RTABMapConfig.cmake.in
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"${PROJECT_BINARY_DIR}/RTABMapConfig.cmake" @ONLY)
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# ... for the install tree
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set(CONF_INCLUDE_DIRS "\${RTABMap_CMAKE_DIR}/${REL_INCLUDE_DIR}")
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configure_file(RTABMapConfig.cmake.in
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"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/RTABMapConfig.cmake" @ONLY)
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# ... for both
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configure_file(RTABMapConfigVersion.cmake.in
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"${PROJECT_BINARY_DIR}/RTABMapConfigVersion.cmake" @ONLY)
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# Install the RTABMapConfig.cmake and RTABMapConfigVersion.cmake
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install(FILES
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"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/RTABMapConfig.cmake"
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"${PROJECT_BINARY_DIR}/RTABMapConfigVersion.cmake"
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DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT devel)
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# Install the export set for use with the install-tree
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install(EXPORT RTABMapTargets DESTINATION
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"${INSTALL_CMAKE_DIR}" COMPONENT devel)
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####
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#######################
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# CPACK (Packaging)
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@@ -223,17 +300,6 @@ set(CPACK_SOURCE_IGNORE_FILES
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"\\\\.DS_Store"
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)
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# Share files
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INSTALL(FILES
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${PROJECT_SOURCE_DIR}/Matlab/ShowLogs/showlogs.m
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${PROJECT_SOURCE_DIR}/Matlab/ShowLogs/getPrecisionRecall.m
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${PROJECT_SOURCE_DIR}/Matlab/ShowLogs/importfile.m
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DESTINATION share/${PROJECT_PREFIX}
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COMPONENT runtime)
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INSTALL(FILES ${PROJECT_SOURCE_DIR}/cmake_modules/FindRTABMap.cmake DESTINATION share/${PROJECT_PREFIX} COMPONENT devel)
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IF(WIN32)
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SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/COPYING.txt")
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@@ -301,4 +367,5 @@ MESSAGE(STATUS " BUILD_LIBS_ONLY = ${BUILD_LIBS_ONLY}")
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IF(APPLE)
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MESSAGE(STATUS " BUILD_AS_BUNDLE = ${BUILD_AS_BUNDLE}")
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ENDIF(APPLE)
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MESSAGE(STATUS " DEMO_BUILD = ${DEMO_BUILD}")
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MESSAGE(STATUS "--------------------------------------------")
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