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Qt6 compatibility (#968)

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* Qt6 Compilation success

* Fixed qt5 backward compatibility

* Fixed build for qt<=5.9 (bionic)

* Added docker file for easy testing with latest Qt/VTK/PCL/OpenCV

* Fixed cmake for qt
This commit is contained in:
matlabbe
2023-03-05 16:34:56 -08:00
committed by GitHub
parent 98635ae33d
commit 8c5c4f63bf
29 changed files with 254 additions and 76 deletions
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65
CMakeLists.txt
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@@ -226,7 +226,7 @@ option(PCL_OMP "With PCL OMP implementations" ON)
ENDIF()
set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5)
set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
@@ -297,20 +297,31 @@ IF(WITH_QT)
ENDIF(NOT VTK_FOUND)
# If Qt is here, the GUI will be built
# look for Qt5 (if vtk>5 is installed) before Qt4
IF("${VTK_MAJOR_VERSION}" GREATER 5)
if(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
FIND_PACKAGE(Qt5 QUIET COMPONENTS Widgets Core Gui PrintSupport OpenGL OPTIONAL_COMPONENTS Svg)
ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
IF("${VTK_MAJOR_VERSION}" GREATER_EQUAL 9)
MESSAGE(STATUS "VTK>=9 detected, will use VTK_QT_VERSION=${VTK_QT_VERSION} for Qt version.")
IF(${VTK_QT_VERSION} EQUAL 6)
FIND_PACKAGE(Qt6 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
ELSEIF(${VTK_QT_VERSION} EQUAL 5)
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
ELSE()
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
ENDIF()
ELSE()
# look for Qt5 (if vtk>5 is installed) before Qt4
IF("${VTK_MAJOR_VERSION}" GREATER 5)
IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
IF(NOT Qt5_FOUND)
IF(NOT Qt5_FOUND)
IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
FIND_PACKAGE(Qt4 QUIET COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
ENDIF(NOT Qt5_FOUND)
ENDIF(NOT Qt5_FOUND)
ENDIF()
IF(QT4_FOUND OR Qt5_FOUND)
IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
IF("${VTK_MAJOR_VERSION}" EQUAL 5)
FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
ELSE()
@@ -318,7 +329,7 @@ IF(WITH_QT)
IF(value EQUAL -1)
list(FIND PCL_LIBRARIES vtkGUISupportQt value)
IF(value EQUAL -1)
IF("${VTK_MAJOR_VERSION}" GREATER 8)
IF("${VTK_MAJOR_VERSION}" GREATER_EQUAL 9)
SET(PCL_LIBRARIES "${PCL_LIBRARIES};VTK::GUISupportQt")
ELSE()
SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkGUISupportQt")
@@ -354,7 +365,7 @@ IF(WITH_QT)
ENDIF()
ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals/foreach and Qt macros
ENDIF(QT4_FOUND OR Qt5_FOUND)
ENDIF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
ENDIF(WITH_QT)
IF(NOT VTK_FOUND)
@@ -752,7 +763,18 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
IF(NOT MSVC)
IF((NOT WITH_MSCKF_VIO OR NOT msckf_vio_FOUND) AND (loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND))
IF(Qt6_FOUND)
# Qt6 requires c++17
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
IF(COMPILER_SUPPORTS_CXX17)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
set(CMAKE_CXX_STANDARD 17)
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler if you want to use Qt6.")
ENDIF()
ENDIF()
IF((NOT (${CMAKE_CXX_STANDARD} STREQUAL "17")) AND ((NOT WITH_MSCKF_VIO OR NOT msckf_vio_FOUND) AND (loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND)))
#LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14, but MSCKF_VIO requires c++11
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
@@ -764,7 +786,7 @@ IF(NOT MSVC)
ENDIF()
ENDIF()
IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "17") AND NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
G2O_FOUND OR
GTSAM_FOUND OR
CERES_FOUND OR
@@ -796,7 +818,7 @@ ENDIF()
####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
IF(APPLE AND BUILD_AS_BUNDLE)
IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
IF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
# Required when packaging, and set CMAKE_INSTALL_PREFIX to "/".
SET(CMAKE_INSTALL_PREFIX "/")
@@ -1023,7 +1045,7 @@ IF(ANDROID)
IF(BUILD_APP)
ADD_SUBDIRECTORY( app )
ENDIF(BUILD_APP)
ELSEIF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
ELSEIF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
ADD_SUBDIRECTORY( guilib )
IF(BUILD_APP)
ADD_SUBDIRECTORY( app )
@@ -1055,12 +1077,14 @@ ADD_CUSTOM_TARGET(uninstall
####
add_library(rtabmap INTERFACE)
add_library(rtabmap::rtabmap ALIAS rtabmap)
IF(QT4_FOUND OR Qt5_FOUND)
IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
set(CONF_WITH_GUI ON)
IF(QT4_FOUND)
set(CONF_QT_VERSION 4)
ELSE()
ELSEIF(Qt5_FOUND)
set(CONF_QT_VERSION 5)
ELSE()
set(CONF_QT_VERSION 6)
ENDIF()
target_link_libraries(rtabmap INTERFACE rtabmap_utilite rtabmap_core rtabmap_gui)
ELSE()
@@ -1271,6 +1295,9 @@ MESSAGE(STATUS " With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}
ELSEIF(Qt5_FOUND)
MESSAGE(STATUS " With Qt ${Qt5_VERSION} = YES (License: Open Source or Commercial)")
MESSAGE(STATUS " With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION} = YES (License: BSD)")
ELSEIF(Qt6_FOUND)
MESSAGE(STATUS " With Qt ${Qt6_VERSION} = YES (License: Open Source or Commercial)")
MESSAGE(STATUS " With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_QT)
MESSAGE(STATUS " With Qt = NO (WITH_QT=OFF)")